Dexmal/DM05-MEM

1---2license: gemma3library_name: transformers4base_model:5- Dexmal/DM056tags:7- robotics8- vision-language-action9- dm0510- opendm11---12 13# DM05-mem14 15![DM0.5](https://raw.githubusercontent.com/dexmal/opendm/main/docs/image/header.png)16 17<p align="center">18  <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>19  <a href="https://github.com/dexmal/opendm"><img src="https://img.shields.io/badge/GitHub-OpenDM-181717?logo=github" alt="GitHub"></a>20  <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>21  <a href="https://maas.dexmal.com/"><img src="https://img.shields.io/badge/MaaS-Online-brightgreen.svg" alt="MaaS"></a>22</p>23 24OpenDM-format BF16 checkpoint for **DM05-mem** (32-slot history EEF).25Use with [OpenDM](https://github.com/dexmal/opendm) `playground/dm05_mem.py`.26See the [DM05 Inference Guide](https://github.com/dexmal/opendm/blob/main/docs/en/dm05_inference.md).27 28Weights: BF16 `model.safetensors`.29 30## Model Card31 32| Field | Value |33| --- | --- |34| Config | `playground/dm05_mem.py` |35| Env vars | `DM05_MEM_CHECKPOINT` |36| OpenDM `robot_type` | `ARX5` (playground default) |37| Control | EEF (`control_mode=eef`) |38| Cameras | Head / Left wrist / Right wrist |39| Native state / action | 7 / 7 (xyz+rpy in, xyz+axis-angle+gripper out) |40| Defaults | `action_horizon=50`, `is_history=true`, `speed=0.1`, `model_max_length=2048` |41 42## Use with OpenDM Inference43 44```bash45# From the OpenDM repository root.46hf download Dexmal/DM05-MEM \47  --local-dir ./checkpoints/DM05-MEM48pip install -e ".[fast-infer]"49 50script/dm05_launcher.sh \51  --exp playground/dm05_mem.py \52  --task inference \53  --model-config.model-name-or-path ./checkpoints/DM05-MEM \54  --inference-config.port 789155```56 57Override with the env var used by the playground:58 59```bash60export DM05_MEM_CHECKPOINT=/path/to/DM05-MEM61python playground/dm05_mem.py62python playground/dm05_mem.py --inference-config.backend fast63```64 65## Runtime Profile66 67From `playground/dm05_mem.py`:68 69- `control_mode=eef`, `action_mode=absolute`, `speed=0.1`70- `is_history=true`, `max_history_images=32`71- attn: llm/action `sdpa`, vision `flash_attention_2`72- fast: prefix `2048`73 74## Files75 76```text77.78├── config.json79├── model.safetensors80├── norm_stats.json81├── tokenizer.json82├── tokenizer_config.json83├── processor_config.json84├── chat_template.jinja85├── generation_config.json86└── README.md87```88 89## Citation90 91```bibtex92@misc{dm05,93    title  = {{DM0.5}: An Open-World Foundation Model for General-Purpose Embodied Intelligence},94    author = {{Dexmal Team}},95    month  = {July},96    year   = {2026},97    url    = {https://www.dexmal.com/blog/dm0.5/index_en.html}98}99```100