metadata
license: bsd-2-clause
Diffusion Policy
The model was trained with the MujocoUR5eCable dataset.
Install
See GitHub for installation.
Policy rollout
Run a trained policy:
$ python ./bin/rollout/RolloutDiffusionPolicyMujocoUR5eCable.py \
--checkpoint <checkpoint_path>/checkpoints/200.ckpt \
--skip 3 --world_idx 0
Technical Details
For more information on the technical details, please see the following paper:
@INPROCEEDINGS{DiffusionPolicy_RSS23,,
author = {Chi, Cheng and Feng, Siyuan and Du, Yilun and Xu, Zhenjia and Cousineau, Eric and Burchfiel, Benjamin and Song, Shuran},
title = {Diffusion Policy: Visuomotor Policy Learning via Action Diffusion},
booktitle = {Proceedings of Robotics: Science and Systems},
year = {2023},
month = {July},
doi = {10.15607/RSS.2023.XIX.026}
}