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spesrobotics/
wire_pick_place_multi_view_diffusion

Name: wire_pick_place_multi_view_diffusion
Rating: 2.5 (6 reviews)

spesrobotics/wire_pick_place_multi_view

2303.04137

apache-2.0

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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 documentation at LeRobot Docs.

How to Get Started with the Model

For a complete walkthrough, see the training guide. Below is the short version on how to train and run inference/eval:

Train from scratch

bash

python lerobot/scripts/train.py \
  --dataset.repo_id=${HF_USER}/<dataset> \
  --policy.type=act \
  --output_dir=outputs/train/<desired_policy_repo_id> \
  --job_name=lerobot_training \
  --policy.device=cuda \
  --policy.repo_id=${HF_USER}/<desired_policy_repo_id>
  --wandb.enable=true

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

Evaluate the policy/run inference