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AIRO-Doffy-DP-vision-joint-matched-20260914
IXDLI/AIRO-Doffy-DP-vision-joint-matched-20260914
AIRO-Doffy-DP-vision-joint-matched-20260914 is a robotics model from IXDLI. 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 pytorch.
Matched RGB-and-joint originaldp Diffusion Policy baseline.
Access
Public
Updated Sep 14, 2026
Repo size
13.4 GB
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2
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.pt13.4 GB · 100%
At a glance
- Task
- Robotics
- Library
- pytorch
- Access
- Public
- Created
- Sep 14, 2026
- Updated
- Sep 14, 2026
- SHA
- eb9eba40
Model card
From the Hugging Face model README
AIRO-Doffy-DP-vision-joint-matched-20260914
Matched RGB-and-joint original_dp Diffusion Policy baseline.
- Inputs: RGB observations and seven normalized joint values.
- Visual conditioning: enabled for two observation steps; Beaver conditioning is disabled.
- Native DDPM settings: horizon 16, action steps 8, and 100 diffusion timesteps.
- Execution gate: disabled.
- Dataset:
WRM_grasp_cylinder_different_sizes_lero_recollect_gray_tightness, with an explicit 100-episode training split and 25-episode validation split (episodes 20--24, 45--49, 70--74, 95--99, and 120--124). - Training: seed 42, batch size 32, six DataLoader workers, and final step 100000; W&B online tracking is required.
- EMA weights are retained in
last.ptfor deployment.
The checkpoints/ directory contains the numbered original_dp_step_*.pt
milestones, last.pt, the resolved configuration, metrics, and the source and
dataset checksum artifacts. W&B directories and credentials are excluded.
SHA-256 of checkpoints/last.pt: 3ff1bf9683e38c280234b39810e0df0f6aa614a082f74e367e0d1b02ff914d1e.
- Task
- Robotics
- Library
- pytorch
- Created
- Sep 14, 2026
- Updated
- Sep 14, 2026