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hellorobotinc/
diffusion_kitchen_cabinet_diagonal

Name: diffusion_kitchen_cabinet_diagonal
Availability: InStock

safetensors

LeRobot

robotics

hellorobotinc/kitchen_cabinet_diagonal

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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

hellorobotinc/diffusion_kitchen_cabinet_diagonal

Model Card for Diffusion Policy / Kitchen cabinet opening - Diagonal configuration

Training Details

Input/Output

hellorobotinc/
diffusion_kitchen_cabinet_diagonal