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lstm3d-pretrained-checkpoints

harrywang01/lstm3d-pretrained-checkpoints

lstm3d-pretrained-checkpoints is a machine learning model from harrywang01. Use it for the machine learning task on the model card, and read the license before you ship it in a product.

Four pretrained 3D-LSTM (ObsActionChunkLSTMImage3D) checkpoints used as warmup-stage models for the diffusion-policy "warmup-then-finetune" pipeline in the memorydiffusionpolicy project. Each subfolder is a self-conta…

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Updated May 26, 2026

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.pt1.2 GB · 97%

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Access: Public
Created: May 19, 2026
Updated: May 26, 2026
SHA: d41dc41d

Model card

From the Hugging Face model README

lstm3d-pretrained-checkpoints

Four pretrained 3D-LSTM (ObsActionChunkLSTMImage3D) checkpoints used as warmup-stage models for the diffusion-policy "warmup-then-finetune" pipeline in the memory_diffusion_policy project. Each subfolder is a self-contained training output with best_model.pt, config.yaml, normalizer.pt, and TensorBoard logs/. The visualization-dumps (eval_viz/) are intentionally excluded to keep the bundle small.

Contents

Task	Subfolder	Hidden	Horizon	Best ckpt size
Lego-stacking	`lego_h64_sub1_h600`	64	600	~130 MB
Lightbulb	`lightbulb_h128_sub1_h600`	128	600	~134 MB
Peg-insert	`peg_insert_h128_sub1_h1000`	128	1000	~134 MB
Fruit-swap	`fruit_swap_h64_sub1_h700`	64	700	~130 MB

Downloading

All checkpoints at once

pip install huggingface_hub
huggingface-cli download harrywang01/lstm3d-pretrained-checkpoints \
    --local-dir ./lstm3d_checkpoints

or in Python:

from huggingface_hub import snapshot_download
snapshot_download(
    repo_id="harrywang01/lstm3d-pretrained-checkpoints",
    local_dir="./lstm3d_checkpoints",
)

Just one checkpoint

huggingface-cli download harrywang01/lstm3d-pretrained-checkpoints \
    --include "lego_h64_sub1_h600/*" \
    --local-dir ./lstm3d_checkpoints

or in Python:

from huggingface_hub import snapshot_download
snapshot_download(
    repo_id="harrywang01/lstm3d-pretrained-checkpoints",
    allow_patterns=["lego_h64_sub1_h600/*"],
    local_dir="./lstm3d_checkpoints",
)

Replace lego_h64_sub1_h600 with any other subfolder name from the table above.

Created: May 19, 2026
Updated: May 26, 2026