dp_pour_cup_hold_abs_ee_compat-old

dp_pour_cup_hold_abs_ee_compat

A lerobot 0.4.4-compatible copy of the DexSteer training checkpoint dp_isaaclab_ur7e_3task_abs_ee/pour_cup_hold.

The original training config.json contains DexSteer-fork-only fields that stock lerobot's DiffusionConfig rejects. This copy keeps the original weights and processors byte-for-byte and rewrites only config.json so the checkpoint loads with unmodified lerobot 0.4.4.

This is the _compat variant: for a pipeline that pre-resizes camera images to 224x224 before sending them (identity crop). config.json has crop_shape: [224, 224] and no resize_shape.

Using the wrong variant in the other pipeline center-crops a 224 patch out of the image and gives ~0 success. Pick the variant that matches how your client feeds images.

Load with:

from lerobot.policies.diffusion.modeling_diffusion import DiffusionPolicy
policy = DiffusionPolicy.from_pretrained("DexSteer/dp_pour_cup_hold_abs_ee_compat")