---
datasets:
- hellorobotinc/kitchen_cabinet_diagonal
pipeline_tag: robotics
---

## Model Card for Diffusion Policy / Kitchen cabinet opening - Diagonal configuration
Diffusion Policy trained for [Stretch 3](https://hello-robot.com/stretch-3-product). 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](https://github.com/hello-robot/stretch_ai)

- Dataset: [hellorobotinc/kitchen_cabinet_diagonal](https://huggingface.co/datasets/hellorobotinc/kitchen_cabinet_diagonal)
- Number of episodes: 50
- Number of epochs: 1000
- Checkpoint: latest checkpoint
- Training time: ~11 hours on RTX 3090

Specific training configs can be found in config.json and config.yaml