initial commit

26d1577 verified 1 day ago

3.01 kB

license: gemma
library_name: transformers
base_model:
  - Dexmal/DM05
tags:
  - robotics
  - vision-language-action
  - dm05
  - opendm
  - robochallenge
  - aloha

DM05-ALOHA（RoboChallenge）

面向 RoboChallenge Table 30 v2 ALOHA 机型的 OpenDM 格式 BF16 权重。请配合 Dexbotic-RoboChallengeInference （configs/generalist/aloha.yaml）使用。

权重文件为 BF16 model.safetensors。

模型信息

字段	值
配置名	`generalist/aloha`
环境变量	`ALOHA_CHECKPOINT` / `ALOHA_NORM_STATS`
OpenDM `robot_type`	`Aloha`
控制方式	Joint 相对动作
相机顺序	Head / Left wrist / Right wrist
平台相机映射	`cam_high` → image_0，`cam_left_wrist` → image_1，`cam_right_wrist` → image_2
状态 / action 统计维度	14 / 14（`norm_stats.json` 仅含 action 分位数统计）
默认推理参数	`action_horizon=25`，`is_history=false`，`inference_seed=0`

Table30 任务

lint_roller_remove_dirt、pack_the_items、pack_the_toothbrush_holder、paint_jam、 put_the_books_back、put_the_pencil_case_into_the_schoolbag、 scoop_with_a_small_spoon、stamp_positioning、wipe_the_blackboard、 wrap_with_a_soft_cloth

分任务 horizon 见 configs/generalist/aloha.yaml 的 task_overrides （例如 put_the_books_back=15、stamp_positioning=45、wipe_the_blackboard=15）。

使用 Dexbotic-RoboChallengeInference

cd /path/to/Dexbotic-RoboChallengeInference

export OPENDM_ROOT=/path/to/opendm
export ALOHA_CHECKPOINT=/path/to/DM05-ALOHA
export ALOHA_NORM_STATS=$ALOHA_CHECKPOINT/norm_stats.json

pip install -e "$OPENDM_ROOT"
pip install -r requirements.txt

python execute.py --config-name generalist/aloha \
  user_id=YOUR_USER_ID \
  submission_id=YOUR_SUBMISSION_ID

不用环境变量时也可直接覆盖：

python execute.py --config-name generalist/aloha \
  checkpoint=/path/to/DM05-ALOHA \
  norm_stats=/path/to/DM05-ALOHA/norm_stats.json \
  user_id=YOUR_USER_ID \
  submission_id=YOUR_SUBMISSION_ID

若未设置 ALOHA_NORM_STATS，客户端会回退到 $ALOHA_CHECKPOINT/norm_stats.json。

运行时配置

来自 configs/default.yaml → robot_profiles.aloha：

action_type=joint，action_mode=relative
is_history=false，add_state=true，speed=0.5
inference_seed=0，resize_name=padding

目录结构

.
├── config.json
├── model.safetensors
├── norm_stats.json
├── tokenizer.json
├── tokenizer_config.json
├── processor_config.json
├── chat_template.jinja
├── generation_config.json
├── README.md
└── README_zh.md

引用

@misc{dm05,
    title  = {{DM0.5}: An Open-World Foundation Model for General-Purpose Embodied Intelligence},
    author = {{Dexmal Team}},
    month  = {July},
    year   = {2026},
    url    = {https://www.dexmal.com/blog/dm0.5/index_en.html}
}