hellorobotinc/diffusion_kitchen_cabinet_diagonal

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

Diffusion Policy trained for Stretch 3 using 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

• Dataset: 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