diffusion-long_horizon2-finetuned

LeRobot diffusion policy for the long_horizon2 task.

Field	Value
Policy family	diffusion (LeRobot)
Variant	Finetuned (multitask pretrain, then finetuned on this task's finetune pool)
Training dataset	WetLabRoboData/lerobot-data-long_horizon2
Base model	WetLabRoboData/diffusion-multitask_12task_mix-multitask
Target task	long_horizon2
Eval episodes	20
Eval successes	7 / 20
Robot	UR3e bimanual (3 cameras)

Evaluation

Rollout videos + per-episode outcomes: WetLabRoboData/eval-diffusion-long_horizon2-finetuned.

Load and deploy

from lerobot.policies.diffusion.modeling_diffusion import DiffusionPolicy
policy = DiffusionPolicy.from_pretrained("WetLabRoboData/diffusion-long_horizon2-finetuned")

Provenance

Reorganized from WetLabRoboData/lerobot-data-rama-lbm_finetune_longhorizon2_cam_reorient on 2026-10-04. The archived training outputs (checkpoints, train_config.json, wandb/) are preserved in the old/ subfolder of that source repo for traceability.