Ngseo/hyundai-uiwang-right-flowmatch-dinov3

Hyundai Uiwang — Diffusion Policy (FlowMatch), RIGHT arm — DINOv3 backbone

LeRobot Diffusion Policy trained on the Hyundai Uiwang right-arm dataset (118 episodes / 77,490 frames, 30 Hz), FlowMatch scheduler (num_inference_steps=1). Robot: HDRB + INSPIRE-RH56. Vision encoder: facebook/dinov3-vitb16-pretrain-lvd1689m (ViT-B/16), pretrained + frozen. Inputs: front_rgb + wrist_rgb + state(26) + gripper_sensor(30) + wrist_ft_sensor(6) -> action(26).

Load-time requirements (important)

1. DINOv3 gated access: loading constructs the backbone via AutoModel.from_pretrained("facebook/dinov3-vitb16-pretrain-lvd1689m"), which is gated — accept the license on that model page with your HF account first.
2. lerobot with DINOv3 register-token support: the Dinov2Backbone wrapper must strip CLS + register tokens (DINOv3 has 4 registers). Use the snu-hyundai fork branch that includes this patch, or the loaded patch features will be misaligned.