dexverse-dp-image — Diffusion Policy (image) trained per task × hand on DexVerse teleop demos
LeRobot 0.4.2 official Diffusion Policy, one model per (task, hand), trained on the 50-episode teleop sets of
Dexverse-CSI/dv-demos-v0 (v0/teleop_lerobot/...). Layout mirrors the dataset: v0/teleop_lerobot/<category>/<Task>/<robot_type>/
= best/ (selected snapshot) and last/ (final epoch, not evaluated) as LeRobot pretrained_model dirs (config.json, model.safetensors, processors, train_config.json), README.md (server,
hyperparameters, results), config.yaml, settings.md, meta.json, metrics.csv, select.log.
Common setup: 2 cameras (third_person, eye_in_hand) 480×640 → 240×320 bilinear resize, random crop 216×288, one ResNet18 per camera,
state 28-d joint positions (n_obs 2), action 28-d (horizon 16, execute 8), UNet [512, 1024, 2048], DDPM 100, Adam 1e-4 cosine, batch 64,
300 epochs, seed 42, fp32, no EMA. Snapshot every 50 epochs; best = snapshot with the most successes on pkl episodes 0–9 (ties → later).
Final score = 50 rollouts of best restoring the initial state of pkl episodes 0–49 (max 3000 steps, no seed).
Results (success rate of best, 50 rollouts) — updated 2026-11-04 20:13 KST
| task | wuji | shadow | inspire | allegro | leap | sharpa |
|---|---|---|---|---|---|---|
| LiftCarton | 1.00 (50/50) | – | – | 1.00 (50/50) | – | 0.86 (43/50) |
| LiftTray | 0.92 (46/50) | – | 0.94 (47/50) | 0.88 (44/50) | – | 0.92 (46/50) |
| HammerStrike | 0.64 (32/50) | 0.50 (25/50) | 0.94 (47/50) | 0.40 (20/50) | 0.26 (13/50) | 0.34 (17/50) |
| GraspKettle | 0.32 (16/50) | 0.84 (42/50) | 0.64 (32/50) | 0.58 (29/50) | 0.58 (29/50) | 0.40 (20/50) |
| GraspPan | 0.38 (19/50) | 0.42 (21/50) | 0.72 (36/50) | 0.54 (27/50) | 0.04 (2/50) | – |
| PourMug | 0.38 (19/50) | 0.38 (19/50) | 0.54 (27/50) | – | – | 0.28 (14/50) |
| GraspTwoItems | 0.04 (2/50) | 0.06 (3/50) | – | 0.40 (20/50) | – | 0.00 (0/50) |
| GraspBleach | 0.02 (1/50) | – | – | – | – | – |
| SlideUtilityKnife-v1 | – | – | – | – | – | – |
– = no dataset yet, or training/evaluation still running.
Models
| path | best | trained on | run_id |
|---|---|---|---|
v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftCarton-v0/floating_wuji_bimanual/ |
50/50 | vast-isaac | 20261101-133446_vast-isaac_liftcarton-wuji |
v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftCarton-v0/floating_allegro_bimanual/ |
50/50 | vast-isaac | 20261103-224735_vast-isaac_liftcarton-allegro |
v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftCarton-v0/floating_sharpa_bimanual/ |
43/50 | vast-isaac | 20261101-133446_vast-isaac_liftcarton-sharpa |
v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_wuji_bimanual/ |
46/50 | vast-isaac | 20261101-133446_vast-isaac_lifttray-wuji |
v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_inspire_bimanual/ |
47/50 | vast-isaac | 20261101-133446_vast-isaac_lifttray-inspire |
v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_allegro_bimanual/ |
44/50 | a4 | 20261104-014353_a4_lifttray-allegro |
v0/teleop_lerobot/bimanual/Dexverse-BimanualLiftTray-v0/floating_sharpa_bimanual/ |
46/50 | vast-isaac | 20261101-133446_vast-isaac_lifttray-sharpa |
v0/teleop_lerobot/functional/Dexverse-FunctionalHammerStrike-v0/floating_wuji_right/ |
32/50 | vast-isaac | 20261101-133446_vast-isaac_hammerstrike-wuji |
v0/teleop_lerobot/functional/Dexverse-FunctionalHammerStrike-v0/floating_shadow_right/ |
25/50 | vast-isaac | 20261101-133446_vast-isaac_hammerstrike-shadow |
v0/teleop_lerobot/functional/Dexverse-FunctionalHammerStrike-v0/floating_inspire_right/ |
47/50 | vast-isaac | 20261101-133446_vast-isaac_hammerstrike-inspire |
v0/teleop_lerobot/functional/Dexverse-FunctionalHammerStrike-v0/floating_allegro_right/ |
20/50 | vast-isaac | 20261101-133446_vast-isaac_hammerstrike-allegro |
v0/teleop_lerobot/functional/Dexverse-FunctionalHammerStrike-v0/floating_leap_right/ |
13/50 | vast-isaac | 20261101-133446_vast-isaac_hammerstrike-leap |
v0/teleop_lerobot/functional/Dexverse-FunctionalHammerStrike-v0/floating_sharpa_right/ |
17/50 | vast-isaac | 20261101-133446_vast-isaac_hammerstrike-sharpa |
v0/teleop_lerobot/functional/Dexverse-GraspKettle-v0/floating_wuji_right/ |
16/50 | a4 | 20261101-130737_a4_graspkettle-wuji |
v0/teleop_lerobot/functional/Dexverse-GraspKettle-v0/floating_shadow_right/ |
42/50 | a4 | 20261101-130737_a4_graspkettle-shadow |
v0/teleop_lerobot/functional/Dexverse-GraspKettle-v0/floating_inspire_right/ |
32/50 | a4 | 20261101-130737_a4_graspkettle-inspire |
v0/teleop_lerobot/functional/Dexverse-GraspKettle-v0/floating_allegro_right/ |
29/50 | a4 | 20261101-130737_a4_graspkettle-allegro |
v0/teleop_lerobot/functional/Dexverse-GraspKettle-v0/floating_leap_right/ |
29/50 | a4 | 20261101-130737_a4_graspkettle-leap |
v0/teleop_lerobot/functional/Dexverse-GraspKettle-v0/floating_sharpa_right/ |
20/50 | a4 | 20261101-130737_a4_graspkettle-sharpa |
v0/teleop_lerobot/functional/Dexverse-GraspPan-v0/floating_wuji_right/ |
19/50 | a4 | 20261101-130737_a4_grasppan-wuji |
v0/teleop_lerobot/functional/Dexverse-GraspPan-v0/floating_shadow_right/ |
21/50 | vast-isaac | 20261101-133446_vast-isaac_grasppan-shadow |
v0/teleop_lerobot/functional/Dexverse-GraspPan-v0/floating_inspire_right/ |
36/50 | vast-isaac | 20261101-133446_vast-isaac_grasppan-inspire |
v0/teleop_lerobot/functional/Dexverse-GraspPan-v0/floating_allegro_right/ |
27/50 | vast-isaac | 20261103-224735_vast-isaac_grasppan-allegro |
v0/teleop_lerobot/functional/Dexverse-GraspPan-v0/floating_leap_right/ |
2/50 | vast-isaac | 20261103-224735_vast-isaac_grasppan-leap |
v0/teleop_lerobot/functional/Dexverse-FunctionalPourMug-v0/floating_wuji_right/ |
19/50 | vast-isaac | 20261101-133446_vast-isaac_pourmug-wuji |
v0/teleop_lerobot/functional/Dexverse-FunctionalPourMug-v0/floating_shadow_right/ |
19/50 | vast-isaac | 20261101-133446_vast-isaac_pourmug-shadow |
v0/teleop_lerobot/functional/Dexverse-FunctionalPourMug-v0/floating_inspire_right/ |
27/50 | a4 | 20261104-014353_a4_pourmug-inspire |
v0/teleop_lerobot/functional/Dexverse-FunctionalPourMug-v0/floating_sharpa_right/ |
14/50 | vast-isaac | 20261101-133446_vast-isaac_pourmug-sharpa |
v0/teleop_lerobot/grasping/Dexverse-GraspTwoItems-v0/floating_wuji_right/ |
2/50 | amp7 | 20261101-130737_amp7_grasptwoitems-wuji |
v0/teleop_lerobot/grasping/Dexverse-GraspTwoItems-v0/floating_shadow_right/ |
3/50 | amp7 | 20261101-130737_amp7_grasptwoitems-shadow |
v0/teleop_lerobot/grasping/Dexverse-GraspTwoItems-v0/floating_allegro_right/ |
20/50 | amp7 | 20261101-130737_amp7_grasptwoitems-allegro |
v0/teleop_lerobot/grasping/Dexverse-GraspTwoItems-v0/floating_sharpa_right/ |
0/50 | amp7 | 20261101-130737_amp7_grasptwoitems-sharpa |
v0/teleop_lerobot/functional/Dexverse-GraspBleach-v0/floating_wuji_right/ |
1/50 | a4 | 20261101-130737_a4_graspbleach-wuji |