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Ngseo/
hyundai-uiwang-right-flowmatch

Name: hyundai-uiwang-right-flowmatch
Availability: InStock

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Hyundai Uiwang — Diffusion Policy (FlowMatch), RIGHT arm

LeRobot Diffusion Policy trained on the Hyundai Uiwang right-arm manipulation dataset (118 episodes / 77,490 frames, 30 Hz) with the FlowMatch scheduler (num_inference_steps=1). Robot: HDRB + INSPIRE-RH56.

I/O

in observation.images.front_rgb (H,W,3 uint8), observation.images.wrist_rgb (H,W,3 uint8), observation.state (26 float)
out action (26 float): target arm (6) + hand (20) joints @ 30 Hz

Quick start

bash

pip install "lerobot @ git+https://github.com/snu-hyundai-robot-proj/lerobot.git@main"
huggingface-cli download Ngseo/hyundai-uiwang-right-flowmatch inference_example.py --local-dir .
python inference_example.py --model-id Ngseo/hyundai-uiwang-right-flowmatch --device cuda

Serving (HTTP, Docker): https://github.com/snu-hyundai-robot-proj/visuomotor-policy-inference