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Himanshu77275/
dit-diffusion-xarm-wire-rope-v0

Name: dit-diffusion-xarm-wire-rope-v0
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DiT Diffusion xArm Wire Rope v0

This repository contains a Multi-Task DiT diffusion policy fine-tuned with LeRobot on the JayCao99/xarm-wire-rope-v0 dataset.

Training Summary

Field	Value
Policy	Multi-Task DiT
Objective	Diffusion
Dataset	`JayCao99/xarm-wire-rope-v0`
Robot	xArm7
Episodes	210
Frames	290,153
Cameras	`ego`, `wrist`
State dim	15
Action dim	8
Training steps	100,000
Batch size	32
Save frequency	5,000 steps
GPU	1x A100 80GB, Unity `superpod-a100`
Runtime	approximately 8h 23m
Peak VRAM from log	approximately 21.72 GB
WandB	disabled

Checkpoints

Checkpoint	Notes
`checkpoint-100000/`	Final policy checkpoint after 100k finetuning steps

Usage

python

from huggingface_hub import snapshot_download

ckpt_dir = snapshot_download(
    repo_id="Himanshu77275/dit-diffusion-xarm-wire-rope-v0",
    allow_patterns="checkpoint-100000/*",
)

The checkpoint directory contains the LeRobot policy config, model weights, and dataset normalization/preprocessing files needed for policy loading.