DecentVLA/pi05_cubestack_cent_3client

pi0.5 CubeStack — Centralized (3-client union)

Centralized ceiling: full fine-tune on the POOLED union of all 6 tasks (2 per arm across harry/zhekai/kevin), 22500 steps. Shared pooled-6-repo normalizer. The upper bound for the 3-client local < FL < cent comparison.

lerobot-native export (portable tokenizer, real 6-D action/state; --policy.compile_model=false). SO-101 CubeStack, cameras base_0_rgb/left_wrist_0_rgb. Trained on Isambard-AI (GH200) with decent-vla. Part of the 3-client pi0.5 CubeStack federated study (color-pair non-IID: c0=harry Green/Orange, c1=zhekai Green/Blue, c2=kevin Orange/Blue; each client blind to the 3rd color).