ffw_sg2_wave-right_diffusion_state

FFW SG2 · wave-right · proprioception-only Diffusion Policy

Diffusion Policy (LeRobot 0.6.1) trained on the wave-right task of omkarpatil/wave-traj (15 teleop episodes, ROBOTIS AI Worker ffw_sg2_rev1, instruction "wave using the right hand"). The policy conditions on joint state only — no cameras.

Initial state for inference

The demonstrations all start from the pose below (mean over 15 episodes; std is the spread across demos). Put the robot at this pose before issuing START — the policy has never seen states far from it, and in MuJoCo rollouts it waved reliably from starts up to ~0.24 rad (per joint) away from the nearest demo start. Head and lift were fixed during collection, so use exactly those values. Base velocity dims must read ~0.

The same numbers are in initial_state.json (initial_state_mean is the vector to command, in joint_names order; final_state_mean is where the demos end, i.e. the rest pose the policy returns to).

Running it with cyclo_intelligence

• Set the task's inference_hz = 15 (default) and control_hz = 100 in the UI; ActionChunkProcessor spaces the chunk's 16 steps at 1/inference_hz, so 15 Hz must match the dataset fps this policy was trained at.
• Stock LeRobot refuses to build a Diffusion Policy without an image/environment-state input, and the container engine sends a single (B, D) state per request. Both are handled by cyclo_brain/policy/lerobot/lerobot_engine/diffusion_compat.py (loaded automatically by the engine's loading.py / prediction.py) — the policy container needs that version of the bind-mounted lerobot_engine/. Loading in plain LeRobot: call diffusion_compat.allow_state_only_diffusion() first, then DiffusionPolicy.from_pretrained(...), and add the time axis with expand_obs_time_dim(batch, 1) before predict_action_chunk.

MuJoCo rollouts

10/10 full waves from sampled initial states in the lerobot-mujoco-tutorial FFW SG2 model (right-arm joint range 88 % of the demonstrations', left arm quiet, 0.012 rad servo tracking error).