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hyundai-uiwang-right-flowmatch-dinov3
Ngseo/hyundai-uiwang-right-flowmatch-dinov3
hyundai-uiwang-right-flowmatch-dinov3 is a robotics model from Ngseo. 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.
LeRobot Diffusion Policy trained on the Hyundai Uiwang right-arm dataset (118 episodes / 77,490 frames, 30 Hz), FlowMatch scheduler (numinferencesteps=1). Robot: HDRB + INSPIRE-RH56. Vision encoder: facebook/dinov3-vi…
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At a glance
- Task
- Robotics
- Library
- lerobot
- Access
- Public
- Created
- Jun 27, 2026
- Updated
- Jun 27, 2026
- SHA
- 28be2357
Model card
From the Hugging Face model README
Hyundai Uiwang — Diffusion Policy (FlowMatch), RIGHT arm — DINOv3 backbone
LeRobot Diffusion Policy trained on the Hyundai Uiwang right-arm dataset
(118 episodes / 77,490 frames, 30 Hz), FlowMatch scheduler (num_inference_steps=1).
Robot: HDRB + INSPIRE-RH56. Vision encoder: facebook/dinov3-vitb16-pretrain-lvd1689m
(ViT-B/16), pretrained + frozen. Inputs: front_rgb + wrist_rgb + state(26) +
gripper_sensor(30) + wrist_ft_sensor(6) -> action(26).
Load-time requirements (important)
- DINOv3 gated access: loading constructs the backbone via
AutoModel.from_pretrained("facebook/dinov3-vitb16-pretrain-lvd1689m"), which is gated — accept the license on that model page with your HF account first. - lerobot with DINOv3 register-token support: the
Dinov2Backbonewrapper must strip CLS + register tokens (DINOv3 has 4 registers). Use the snu-hyundai fork branch that includes this patch, or the loaded patch features will be misaligned.
- Task
- Robotics
- Library
- lerobot
- Created
- Jun 27, 2026
- Updated
- Jun 27, 2026