bagging_plock_v1_150clean_dp

Diffusion Policy — visuomotor control as a generative diffusion process. See the paper.

Trained with LeDream (a fork of LeRobot).

Training

• Dataset: DreamMachines/bagging_plock_v1_150clean
• Step (this revision): 5000
• Batch size: 32
• Total steps target: 5000
• Optimizer: adam (lr 0.0001)

Available revisions

Every training checkpoint is uploaded as its own git revision; the latest is also on main. Load a specific step with:

from lerobot.policies.factory import make_policy
from lerobot.configs.policies import PreTrainedConfig

cfg = PreTrainedConfig.from_pretrained("DreamMachines/bagging_plock_v1_150clean_dp", revision="v002000")
policy = make_policy(cfg)

Available: v001000, v002000, v003000, v004000, v005000

Quick eval on a real DK1

make eval MODEL=DreamMachines/bagging_plock_v1_150clean_dp

See docs/source/policy_pi05_README.md for π₀.₅-specific notes.