Piper Diffusion Policy — Sejong
Diffusion Policy for a Piper single-arm robot, trained on the Sejong 100-demo pick-and-place dataset.
Model details
| Field | Value |
|---|---|
| Policy | Diffusion Policy |
| Robot | Piper |
| Dataset | Sejong 100-demo dataset |
| Training steps | 100,000 |
| Scheduler | DDIM |
| Inference steps | 20 |
| Cameras | Ego-view, wrist camera |
Usage
Use this repository as the policy path in a LeRobot inference or rollout command:
--policy.path=leejaehot/piper-dp-sejong-v1
This repository contains the model weights and policy processors. Training-state files are not included.
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