---
tags:
- robotics
- diffusion-policy
- drone-navigation
- obstacle-avoidance
- imitation-learning
- pytorch
- isaac-lab
library_name: pytorch
---
# SDPC Diffusion Policy — Quadrotor Corridor Navigation
Trained checkpoint for **SDPC (Safe Diffusion Policy with Constraint)**, an image-(and goal-)conditioned
trajectory diffusion policy for quadrotor obstacle avoidance, with hard constraints enforced at
inference time via an SLSQP projection step. Developed as part of a master's thesis at Paderborn
University.
Code: [ashiqlathief/dpcc-thesis1](https://github.com/ashiqlathief/dpcc-thesis1)
## What this checkpoint is
A single trained run — `H8_K20_Dmodels.ImagePoseCondUNet1DTemporalCondModel_Evitp_L384`, seed `7` —
i.e. the `ImagePoseCondUNet1DTemporalCondModel` denoiser (UNet + ViT-P image encoder, goal/pose
conditioned). It predicts an 8-step action-chunk trajectory (`horizon=8`) via a 20-step DDPM
denoising process (`n_diffusion_steps=20`), conditioned on 1 past FPV observation (`…
