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Zhaohf03/
grab_roller-cross-pretrain-42

Name: grab_roller-cross-pretrain-42
Availability: InStock

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grab_roller LBM cross-embodiment pretrain (seed=42)

Cross-embodiment diffusion policy checkpoints for grab_roller (4 embodiments: aloha-agilex, franka, piper, arx-x5).

Training config

Item	Value
Config	`grab_roller_cross_pretrain.yaml`
Vision	DINOv2 vision-only, 3 cameras (head + dual wrist)
Action	`chunkwise_delta_endpose` (20d 6drot)
Proprio	ee, relative
DDP	8× GPU, batch 48/rank (global 384)
LR	8e-4
Seed	42

Checkpoints

File	Epoch
`200.ckpt`	200
`300.ckpt`	300
`400.ckpt`	400
`500.ckpt`	500

Deploy (XRoboTwin)

bash

cd policy/LBM
python link_ckpt.py \
  --task grab_roller --ckpt-setting cross4 \
  --expert-data-num 50 --seed 42 --epoch 400 \
  --hydra-ckpt checkpoints/grab_roller-cross-42/400.ckpt

Eval with --embodiment_name arx-x5 (or other cross4 embodiment) for cross-body normalizer.

Repo: figsama/XRoboTwin branch figsama.

Zhaohf03/grab_roller-cross-pretrain-42

grab_roller LBM cross-embodiment pretrain (seed=42)

Training config

Checkpoints

Deploy (XRoboTwin)

Zhaohf03/
grab_roller-cross-pretrain-42