RoboManipBaselines: A Unified Framework for Imitation Learning in Robotic Manipulation across Real and Simulation Environments
Paper • 2509.17057 • Published
Diffusion Policy
The model was trained with the MujocoUR5eCable dataset.
Install
See GitHub for installation.
Policy rollout
Run a trained policy:
# Go to the top directory of this repository
$ cd robo_manip_baselines
$ python ./bin/Rollout.py DiffusionPolicy MujocoUR5eCable --checkpoint ./checkpoint/DiffusionPolicy/<checkpoint_name>/policy_last.ckpt
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}
}
RoboManipBaselines Paper
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