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actuator_unboxing_20h_345_dp
DreamMachines/actuator_unboxing_20h_345_dp
actuator_unboxing_20h_345_dp is a robotics model from DreamMachines. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for lerobot. The card lists the license as apache-2.0.
Diffusion Policy — visuomotor control as a generative diffusion process. See the paper.
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At a glance
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Access
- Public
- Created
- Jul 15, 2026
- Updated
- Jul 15, 2026
- SHA
- 536740b7
Model card
From the Hugging Face model README
actuator_unboxing/dp_20h_345
Diffusion Policy — visuomotor control as a generative diffusion process. See the paper.
Trained with LeDream (a fork of LeRobot).
Training
- Dataset:
DreamMachines/actuator_unboxing_20h_345 - Step (this revision):
200000 - Batch size:
64 - Total steps target:
200000 - Optimizer:
adam(lr0.0001)
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/actuator_unboxing_20h_345_dp", revision="v002000")
policy = make_policy(cfg)
Available: v020000, v040000, v060000, v080000, v100000, v120000, v140000, v160000, v180000, v200000
Quick eval on a real DK1
make eval MODEL=DreamMachines/actuator_unboxing_20h_345_dp
See docs/source/policy_pi05_README.md for π₀.₅-specific notes.
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- Jul 15, 2026
- Updated
- Jul 15, 2026