magic0/forcevla-tactar-flipbox-singleview-20k-deploy

ForceVLA flipbox single-view 20k deployment checkpoint

ForceVLA LoRA fine-tuned for 20,000 steps on real_single_flexiv_tactar_flipbox.

Deployment files

• params/: final step-19999 model parameters in Orbax OCDBT format.
• assets/real_single_flexiv_tactar_flipbox/norm_stats.json: state, action and effort normalization statistics.
• _CHECKPOINT_METADATA: checkpoint metadata.
• config/deployment_config.json: portable model, sensor and transform contract.
• config/forcevla_train_config_block.py: exact TrainConfig entry used to build this checkpoint.

Training/deployment configuration:

• wrist image: observation.images.left_wrist
• external image: disabled (image_key=None)
• effort: observation.effort
• quaternion actions converted to rotation vectors
• full state enabled, effort starts at state index 8

Optimizer train_state/ is intentionally excluded because it is not required for inference.

The norm file intentionally has top-level statistics for state and actions. Effort is not a separate top-level norm entry: the configured data transform concatenates the 6-dimensional observation.effort into the full state beginning at index 8.