lang_diffusion_bert_ur5

Language-conditioned baseline (lang_diffusion) trained 100k steps on UR5 ManiUniCon (12 tasks). Frozen language encoder google-bert/bert-base-uncased (mean pool), not included in this checkpoint (loaded from the HF Hub by name). Code: github.com/hochanb/lang_actor (lerobot_policy_lang plugin).

import lerobot_policy_lang  # registers lang_act / lang_diffusion
from lerobot.policies.factory import get_policy_class, make_pre_post_processors
policy = get_policy_class("lang_diffusion").from_pretrained("hochanb/lang_diffusion_bert_ur5")
pre, post = make_pre_post_processors(policy.config, pretrained_path="hochanb/lang_diffusion_bert_ur5")