README.md

metadata

library_name: lerobot
tags:
  - robotics
  - imitation-learning
  - diffusion-policy
  - lerobot
  - franka
  - visuomotor-policy

FR3 Cube Full10K Diffusion Policy

Evaluation-ready LeRobot Diffusion Policy checkpoints from cumulative optimizer step 10K through 50K at 2.5K intervals, plus the 60K checkpoint.

Policy

• Observation horizon: 2
• Prediction horizon: 16
• Action chunk (n_action_steps): 8
• Three native 320×180 RGB views + 22D robot state
• 7D relative Cartesian OSC action
• Conditional 1D U-Net with ResNet18 visual encoder

Each checkpoint is a LeRobot pretrained_model/ directory containing the model config, preprocessing/postprocessing state, and model.safetensors. Load the directory directly with DiffusionPolicy.from_pretrained(...) or the UWLab rollout evaluator.

Checkpoint provenance

• 10K–27.5K: original run 7193up9q
• 30K–60K: continuation from the 27.5K weights, run 7ftqgx5v

The continuation restored model weights exactly, but the original W&B artifact did not contain optimizer/scheduler state. Therefore these releases are evaluation-ready model checkpoints, not full-state training-resume checkpoints. The cumulative step is encoded in each directory name.

Download example

hf download jaeikkim/fr3-cube-full10k-diffusion-policy   checkpoints/step_050000/pretrained_model   --local-dir ./fr3_cube_dpu

Dataset: FR3 Cube Full-Episode RL-Teacher 10K RGB. Verify model files with SHA256SUMS or checkpoint_manifest.json.