You can deploy this model and start earning money today!

eslab1234/
diffusion_five_blocks_full_80ep_h32_a8_ddim10_b12_40k_v1

Name: diffusion_five_blocks_full_80ep_h32_a8_ddim10_b12_40k_v1
Availability: InStock

eslab1234/five_blocks_full_top_wrist_side_80ep_merged_v1

2303.04137

apache-2.0

Views

No views yet

Model Card for diffusion

Diffusion Policy treats visuomotor control as a generative diffusion process, producing smooth, multi-step action trajectories that excel at contact-rich manipulation.

This policy has been trained and pushed to the Hub using LeRobot.

See the full LeRobot documentation.

Model Details

License: apache-2.0
Robot type: so_follower
Cameras: top, wrist, side

Inputs & Outputs

The policy consumes these observation features and produces these action features.

Inputs

Feature	Type	Shape
`observation.state`	STATE	`(6,)`
`observation.images.top`	VISUAL	`(3, 480, 640)`
`observation.images.wrist`	VISUAL	`(3, 480, 640)`
`observation.images.side`	VISUAL	`(3, 480, 640)`

Outputs

Feature	Type	Shape
`action`	ACTION	`(6,)`

Training Dataset

Repository: eslab1234/five_blocks_full_top_wrist_side_80ep_merged_v1
Episodes: 80
Frames: 110402
Frame rate: 30 FPS
Task(s): "Pick up the red, yellow, wood, green, and blue blocks in that order and place each block in its matching target slot."

Training Configuration

Setting	Value
Training steps	40000
Batch size	12
Optimizer	adam
Learning rate	0.0001
Seed	1000
LeRobot version	0.5.2

How to Get Started with the Model

New to LeRobot? These guides cover the full workflow:

Install LeRobot — set up the lerobot package.
Hardware setup — assemble, wire, and calibrate your robot and cameras.
Record data & train a policy — the end-to-end imitation-learning walkthrough.
CLI cheat-sheet — quick reference for the lerobot-* commands.

The short version to run and train this policy:

Run the policy on your robot

bash

lerobot-rollout \
  --strategy.type=base \
  --robot.type=so_follower \
  --robot.port=<your_robot_port> \
  --robot.cameras="{ <camera_1>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}, <camera_2>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}}" \
  --policy.path=eslab1234/diffusion_five_blocks_full_80ep_h32_a8_ddim10_b12_40k_v1 \
  --task="Pick up the red, yellow, wood, green, and blue blocks in that order and place each block in its matching target slot." \
  --duration=60

Replace the remaining <...> placeholders with your own values: --robot.port and the camera names/indices are specific to your machine, and the camera names must match the observation keys this policy was trained on.

When --strategy.type=base is used the script doesn't record the episodes. Skipping duration will make the policy run indefinitely. For more information look at rollout documentation.

Train your own policy

bash

lerobot-train \
  --dataset.repo_id=${HF_USER}/<dataset> \
  --policy.type=diffusion \
  --output_dir=outputs/train/<policy_repo_id> \
  --job_name=lerobot_training \
  --policy.device=cuda \
  --policy.repo_id=${HF_USER}/<policy_repo_id> \
  --wandb.enable=true

Writes checkpoints to outputs/train/<policy_repo_id>/checkpoints/.

Evaluation

No evaluation results have been provided for this policy yet.

Citation

If you use this policy, please cite the method linked in the description above, along with LeRobot:

bibtex

@misc{cadene2024lerobot,
    author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil and Palma, Steven and Kooijmans, Pepijn and Aractingi, Michel and Shukor, Mustafa and Aubakirova, Dana and Russi, Martino and Capuano, Francesco and Pascal, Caroline and Choghari, Jade and Moss, Jess and Wolf, Thomas},
    title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch},
    howpublished = "\url{https://github.com/huggingface/lerobot}",
    year = {2024}
}