---
library_name: pytorch
pipeline_tag: robotics
tags:
- robotics
- imitation-learning
- diffusion-policy
- policy-consensus
---

# AIRO-Doffy-WRM-Grasp-WRM-policy-consensus-lambda0

Three-expert WRM policy-consensus Diffusion Policy checkpoint series.

- Dataset: `WRM_grasp_cylinder_different_sizes_lero_recollect_gray_tightness`
- GPULab: cluster 9, one GPU, eight CPUs, batch size 32
- Training run: `WRM_policy_consensus-cluster9-bs32-lambda0`
- Checkpoints: `40000` through `100000`, plus `last.pt`
- `last.pt` SHA-256: `23c6d3358bbc50384ef543a94aedd984adff3f8794ae21c4a38df726d335939d`
- Configuration: `checkpoints/resolved_config.yaml`
- Metrics: `checkpoints/metrics.jsonl`