Does Diffusion Policy run on OpenArm?
works
Capabilities
| Capability | State | Notes | Evidence |
|---|---|---|---|
| Train / fine-tune | no verified evidence | — | |
| Real-robot inference | works | Documented on the bimanual OpenArm (--robot.type=bi_openarm_follower, three OpenCV cameras) with OpenArm Mini leaders, running the policy under lerobot-rollout --strategy.type=dagger with standard synchronous inference; human interventions are recorded for fine-tuning. | ev-lerobot-hil-openarm-default, ev-lerobot-hil-openarm-mode |
| Simulation inference | no verified evidence | — | |
| Teleop + record | no verified evidence | — |
Evidence 2 sources; the cell shows the highest tier
- T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
LeRobot's human-in-the-loop data collection guide runs trained policies on the bimanual OpenArm follower by default.
“> The provided commands default to `bi_openarm_follower` + `bi_openarm_mini`.”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/hil_data_collection.mdx - T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
The guide names this policy for the lerobot-rollout dagger command on bi_openarm_follower (standard synchronous inference).
“**Standard inference (ACT, Diffusion Policy):**”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/hil_data_collection.mdx
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- 2026-10-25 fecccd1 Initial release: robot policy compatibility matrix · Danilo Znamerovszkij