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T1-GT Corrected Piper Place Block
This is a custom Transformer-conditioned Diffusion Policy checkpoint for Piper pick-and-place.
Model
- RGB encoder: LeRobot DiffusionRgbEncoder
- RGB views:
- observation.images.eye_side
- observation.images.eye_front
- observation.images.cam_wrist
- GT mask views:
- observation.images.eye_side_cube_mask
- observation.images.eye_side_bowl_mask
- observation.images.eye_front_cube_mask
- observation.images.eye_front_bowl_mask
- observation.images.cam_wrist_cube_mask
- observation.images.cam_wrist_bowl_mask
- Mask encoder:
- raw mask
- soft centroid
- bbox
- area
- visible confidence
- Fusion:
- Transformer self-attention fusion
- Diffusion:
- LeRobot DiffusionConditionalUnet1d
Training
- Dataset: 3a279/piper_place_block_random500_no_occlusion_gtmask_3cam
- Batch size: 8
- Steps: 50000
- n_obs_steps: 2
- horizon: 16
- n_action_steps: 8
- GPU: RTX 4090
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