add floor retrain

[google-cla[bot]]

Thanks for your pull request. It looks like this may be your first contribution to a Google open source project (if not, look below for help). Before we can look at your pull request, you'll need to sign a Contributor License Agreement (CLA).

:memo: Please visit https://cla.developers.google.com/ to sign.

Once you've signed (or fixed any issues), please reply here with @googlebot I signed it! and we'll verify it.

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