README.md

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

## Model Card for Diffusion Policy / Kitchen cabinet opening - Diagonal configuration
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.
## 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

## Input/Output
Inputs:

- Head RGB (320x240)
- Gripper RGB (240x320)
- 9 dim joint state observations  (x, y, theta, lift, arm, roll, pitch, yaw, gripper)

Output:
- 9 dim joint state actions (x, y, theta, lift, arm, roll, pitch, yaw, gripper)
- **optional extra dim for task progress (included in dataset, but not trained into this model)

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