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tags:
- lerobot
- diffusion-policy
- pusht
- simulation
---
# Diffusion Policy on PushT - results
Training and evaluation artifacts for the policy [`NLTuan/diffusion_pusht_long`](https://huggingface.co/NLTuan/diffusion_pusht_long).
## Final evaluation (PushT sim)
```json
{
"avg_sum_reward": 104.10700966672937,
"avg_max_reward": 0.8298583084048309,
"pc_success": 34.0,
"n_episodes": 50,
"n_success": 17,
"pc_success_ci95": [
22.43694922250009,
47.84617394976739
],
"eval_s": 53.94045829772949,
"eval_ep_s": 1.0788091659545898,
"video_paths": [
"outputs/eval/diffusion_pusht_long/videos/pusht_0/eval_episode_0.mp4",
"outputs/eval/diffusion_pusht_long/videos/pusht_0/eval_episode_1.mp4",
"outputs/eval/diffusion_pusht_long/videos/pusht_0/eval_episode_2.mp4",
"outputs/eval/diffusion_pusht_long/videos/pusht_0/eval_episode_3.mp4",
"outputs/eval/diffusion_pusht_long/videos/pusht_0/eval_episode_4.mp4",
"outputs/eval/diffusion_pusht_long/videos/pusht_0/eval_episode_5.mp4",
"outputs/eval/diffusion_pusht_long/videos/pusht_0/eval_episode_6.mp4",
"outputs/eval/diffusion_pusht_long/videos/pusht_0/eval_episode_7.mp4",
"outputs/eval/diffusion_pusht_long/videos/pusht_0/eval_episode_8.mp4",
"outputs/eval/diffusion_pusht_long/videos/pusht_0/eval_episode_9.mp4"
],
"predicted_video_paths": []
}
```
## Contents
- `train_eval/` - policy rollout videos captured during periodic in-training evaluation.
- `final_eval/` - final standalone `lerobot-eval` videos and `eval_info.json`.
- `train_config.json` - exact training configuration.
- `train.log` - full training stdout.
## Reproduce
```bash
lerobot-train --policy.type=diffusion --policy.device=cuda --ema.enable=true \
--env.type=pusht --dataset.repo_id=lerobot/pusht \
--batch_size=64 --steps=20000 \
--policy.push_to_hub=true --policy.repo_id=NLTuan/diffusion_pusht_long \
--output_dir=outputs/train/diffusion_pusht
lerobot-eval --policy.path=NLTuan/diffusion_pusht_long --env.type=pusht \
--eval.n_episodes=50 --eval.batch_size=25
```
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