CoolFace
Modelpublic

Dexmal/DM05-Table30v2-ARX5

sourceHugging Facegemmaupdated 2mo agoView on Hugging Face
0likes35downloads
Model Card

DM05-ARX5 (RoboChallenge)

DM0.5

<p align="center"> <a href="https://www.dexmal.com/blog/dm0.5/indexen.html"><img src="https://img.shields.io/badge/📖-TechBlog-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/datasets/RoboChallenge/Table30v2"><img src="https://img.shields.io/badge/Dataset-Table30v2-0EA5E9?logo=huggingface" alt="Table30v2 Dataset"></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 ARX5 on RoboChallenge Table 30 v2. Use with OpenDM third_party/robochallenge_inference (configs/generalist/arx5.yaml). See the DM05 RoboChallenge Table 30 v2 Inference Guide.

Weights: BF16 model.safetensors.

Model Card

FieldValue
Configgeneralist/arx5
Env varsARX5_CHECKPOINT / ARX5_NORM_STATS
OpenDM robot_typeARX5
ControlEEF relative (single_arm_target=eef)
CamerasHead / Left wrist / Right wrist
Platform camscam_global → image0, `camside → image_1, camarm` → image2
Native state / action stats7 / 7 (action-only quantile norm_stats.json)
Defaultsaction_horizon=50, action_playback_target_steps=25, history_mode=logical_step, is_history=true

Table30 Tasks

arrange_flowers, hang_the_cup, pick_out_the_green_blocks, press_the_button, turn_on_the_light_switch, water_the_flowers, wipe_the_table

Per-task horizon overrides: third_party/robochallenge_inference/configs/generalist/arx5.yaml → task_overrides.

Use with OpenDM RoboChallenge Inference

The RoboChallenge client now lives in OpenDM at third_party/robochallenge_inference (configs/generalist/arx5.yaml). See the DM05 RoboChallenge Table 30 v2 Inference Guide.

bash
# From the OpenDM repository root.
export OPENDM_ROOT=/path/to/opendm
pip install -e ".[fast-infer]"

cd third_party/robochallenge_inference
export ARX5_CHECKPOINT=/path/to/DM05-ARX5
export ARX5_NORM_STATS=${ARX5_CHECKPOINT}/norm_stats.json
pip install -r requirements.txt

python execute.py --config-name generalist/arx5 \
  user_id=YOUR_USER_ID \
  submission_id=YOUR_SUBMISSION_ID

Override without env vars:

bash
python execute.py --config-name generalist/arx5 \
  checkpoint=/path/to/DM05-ARX5 \
  norm_stats=/path/to/DM05-ARX5/norm_stats.json \
  user_id=YOUR_USER_ID \
  submission_id=YOUR_SUBMISSION_ID

If ARX5_NORM_STATS is unset, the client falls back to ${ARX5_CHECKPOINT}/norm_stats.json.

Runtime Profile

From third_party/robochallenge_inference/configs/default.yaml → robot_profiles.arx5:

  • —action_type=leftpos, action_mode=relative, single_arm_target=eef
  • —history_mode=logical_step, history_max_frames=5
  • —speed=0.5, add_state=true
  • —attn: llm/action sdpa, vision flash_attention_2

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}
}