metadata
datasets:
- hellorobotinc/kitchen_cabinet_diagonal
pipeline_tag: robotics
tags:
- LeRobot
Model Card for Diffusion Policy / Kitchen cabinet opening - Diagonal configuration
Diffusion Policy trained for Stretch 3 using LeRobot. Trained to open kitchen cabinet from diagonal orientation in Yi-Che (Jensen) Huang's home during his Summer 2024 internship.
Training Details
Model trained on Dex-Teleop demonstrations collected with stretch_ai
- Dataset: hellorobotinc/kitchen_cabinet_diagonal
- Number of episodes: 50
- Number of epochs: 1000
- Checkpoint: latest checkpoint
- Training time: ~11 hours on RTX 3090
Input/Output
Inputs:
- Head RGB (320x240)
- Gripper RGB (240x320)
- 9 dim joint state observations (x, y, theta, lift, arm, roll, pitch, yaw, gripper)
Output:
- 9 dim joint state actions (x, y, theta, lift, arm, roll, pitch, yaw, gripper)
- **optional extra dim for task progress (included in dataset, but not trained into this model)
Specific training configs can be found in config.json and config.yaml