README.md

---
license: gemma
library_name: transformers
base_model:
- Dexmal/DM05
tags:
- robotics
- vision-language-action
- dm05
- opendm
---

# DM05-mem

![DM0.5](https://raw.githubusercontent.com/dexmal/opendm/main/docs/image/header.png)

<p align="center">
  <a href="https://www.dexmal.com/blog/dm0.5/index_en.html"><img src="https://img.shields.io/badge/📖-Tech_Blog-blue" alt="Tech Blog"></a>
  <a href="https://github.com/dexmal/opendm"><img src="https://img.shields.io/badge/GitHub-OpenDM-181717?logo=github" alt="GitHub"></a>
  <a href="https://huggingface.co/Dexmal/DM05-MEM"><img src="https://img.shields.io/badge/Model-DM05--MEM-0EA5E9?logo=huggingface" alt="DM05-MEM"></a>
  <a href="https://maas.dexmal.com/"><img src="https://img.shields.io/badge/MaaS-Online-brightgreen.svg" alt="MaaS"></a>
</p>

OpenDM-format BF16 checkpoint for **DM05-mem** (32-slot history EEF).
Use with [OpenDM](https://github.com/dexmal/opendm) `playground/dm05_mem.py`.
See the [DM05 Inference Guide](https://github.com/dexmal/opendm/blob/main/docs/en/dm05_inference.md).

Weights: BF16 `model.safetensors`.

## Model Card

| Field | Value |
| --- | --- |
| Config | `playground/dm05_mem.py` |
| Env vars | `DM05_MEM_CHECKPOINT` |
| OpenDM `robot_type` | `ARX5` (playground default) |
| Control | EEF (`control_mode=eef`) |
| Cameras | Head / Left wrist / Right wrist |
| Native state / action | 7 / 7 (xyz+rpy in, xyz+axis-angle+gripper out) |
| Defaults | `action_horizon=50`, `is_history=true`, `speed=0.1`, `model_max_length=2048` |

## Use with OpenDM Inference

```bash
# From the OpenDM repository root.
hf download Dexmal/DM05-MEM \
  --local-dir ./checkpoints/DM05-MEM
pip install -e ".[fast-infer]"

script/dm05_launcher.sh \
  --exp playground/dm05_mem.py \
  --task inference \
  --model-config.model-name-or-path ./checkpoints/DM05-MEM \
  --inference-config.port 7891
```

Override with the env var used by the playground:

```bash
export DM05_MEM_CHECKPOINT=/path/to/DM05-MEM
python playground/dm05_mem.py
python playground/dm05_mem.py --inference-config.backend fast
```

## Runtime Profile

From `playground/dm05_mem.py`:

- `control_mode=eef`, `action_mode=absolute`, `speed=0.1`
- `is_history=true`, `max_history_images=32`
- attn: llm/action `sdpa`, vision `flash_attention_2`
- fast: prefix `2048`

## Files

```text
.
├── config.json
├── model.safetensors
├── norm_stats.json
├── tokenizer.json
├── tokenizer_config.json
├── processor_config.json
├── chat_template.jinja
├── generation_config.json
└── README.md
```

## Citation

```bibtex
@misc{dm05,
    title  = {{DM0.5}: An Open-World Foundation Model for General-Purpose Embodied Intelligence},
    author = {{Dexmal Team}},
    month  = {July},
    year   = {2026},
    url    = {https://www.dexmal.com/blog/dm0.5/index_en.html}
}
```