---
license: apache-2.0
base_model: lerobot/smolvla_base
library_name: lerobot
pipeline_tag: robotics
tags: [robotics, vla, smolvla, lerobot, decent-vla, cube-stacking, so-101, federated]
---

# SmolVLA CubeStack — FedAvg 3-client (global)

Federated global model: FedAvg over 3 color-pair clients, 50 rounds x 250 local steps, full fine-tune. Shared pooled-6-repo normalizer. The FL method point vs the centralized ceiling. Final train loss 0.0108.

lerobot-native export (portable config, real 6-D action/state).
SO-101 CubeStack, cameras `camera1` (front) / `camera2` (wrist), `camera3` zero-filled.
Trained on Isambard-AI (GH200) with [decent-vla](https://github.com/kevinDuan1/decent-vla).
Part of the **3-client** SmolVLA CubeStack federated study — SAME color-pair non-IID
partition as the pi0.5 3-client study (c0=harry Green/Orange, c1=zhekai Green/Blue,
c2=kevin Orange/Blue; each client blind to the 3rd color). TRUE full fine-tune
(unfrozen VLM, no LoRA), SmolVLA LIBERO recipe (lr 1e-4, cosine, batch 32, grad-clip 10).