| --- |
| license: bsd-2-clause |
| --- |
| # Diffusion Policy |
|
|
| The model was trained with the [MujocoUR5eCable dataset](https://huggingface.co/datasets/RoboManipBaselines/MujocoUR5eCable). |
|
|
| ## Install |
| See [GitHub](https://github.com/isri-aist/RoboManipBaselines/tree/master/robo_manip_baselines/diffusion_policy) for installation. |
|
|
| ## Policy rollout |
| Run a trained policy: |
| ```console |
| $ 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: |
| ```bib |
| @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} |
| } |
| ``` |
|
|
