---
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](https://github.com/dexmal)
（`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

```bash
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：

```bash
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

```text
.
├── 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

```bibtex
@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}
}
```