| tags: | |
| - robotics | |
| - vision-language-action | |
| - forcevla | |
| # 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. | |