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--- |
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datasets: |
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- hellorobotinc/kitchen_cabinet_diagonal |
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pipeline_tag: robotics |
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tags: |
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- LeRobot |
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--- |
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## Model Card for Diffusion Policy / Kitchen cabinet opening - Diagonal configuration |
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Diffusion Policy trained for [Stretch 3](https://hello-robot.com/stretch-3-product) using [LeRobot](https://huggingface.co/lerobot). Trained to open kitchen cabinet from diagonal orientation in Yi-Che (Jensen) Huang's home during his Summer 2024 internship. |
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## Training Details |
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Model trained on Dex-Teleop demonstrations collected with [stretch_ai](https://github.com/hello-robot/stretch_ai) |
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- Dataset: [hellorobotinc/kitchen_cabinet_diagonal](https://huggingface.co/datasets/hellorobotinc/kitchen_cabinet_diagonal) |
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- Number of episodes: 50 |
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- Number of epochs: 1000 |
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- Checkpoint: latest checkpoint |
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- Training time: ~11 hours on RTX 3090 |
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## Input/Output |
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Inputs: |
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- Head RGB (320x240) |
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- Gripper RGB (240x320) |
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- 9 dim joint state observations (x, y, theta, lift, arm, roll, pitch, yaw, gripper) |
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Output: |
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- 9 dim joint state actions (x, y, theta, lift, arm, roll, pitch, yaw, gripper) |
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- **optional extra dim for task progress (included in dataset, but not trained into this model) |
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Specific training configs can be found in config.json and config.yaml |
