CanIEmbody
Matrix/XLeRobot/Diffusion Policy

Does Diffusion Policy run on XLeRobot?

partial
T3 · community reportedlast verified 2026-10-25 · todayLeRobot

Scope: Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source.

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Capabilities

CapabilityStateNotesEvidence
Train / fine-tuneworksev-hub-odog16-diffusion-tool, ev-hub-odog16-diffusion-block
Real-robot inferenceno verified evidence—
Simulation inferenceno verified evidence—
Teleop + recordno verified evidence—

Evidence 2 sources; the cell shows the highest tier

  1. T3 · community reportedhub-checkpointsource 2026-02-28verified 2026-10-25 (today)

    config.json type=diffusion; train_config.json dataset Odog16/tool_pickup (100000 steps), whose meta/info.json robot_type=xlerobot (100 episodes; two arms plus head, head + two wrist cameras).

    https://huggingface.co/Odog16/tool_pickup_diffusion_1obs_policy
  2. T3 · community reportedhub-checkpointsource 2026-02-04verified 2026-10-25 (today)

    config.json type=diffusion; train_config.json dataset Odog16/test_transfer_block (150000 steps), whose meta/info.json robot_type=xlerobot (154 episodes).

    https://huggingface.co/Odog16/test_transfer_block_diffusion

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Diffusion Policy on XLeRobot: partial

[![Diffusion Policy on XLeRobot: partial](https://caniembody.pages.dev/badge/xlerobot/diffusion.svg)](https://caniembody.pages.dev/compat/xlerobot/diffusion)
<iframe src="https://caniembody.pages.dev/embed/xlerobot/diffusion" width="380" height="132" style="border:0" title="Diffusion Policy on XLeRobot | CanIEmbody"></iframe>

History

No committed history yet. Source file: data/compat/xlerobot__diffusion.yaml