| --- |
| tags: |
| - lerobot |
| - diffusion-policy |
| - pusht |
| - simulation |
| --- |
| |
| # Diffusion Policy on PushT - results |
|
|
| Training and evaluation artifacts for the policy [`NLTuan/diffusion_pusht`](https://huggingface.co/NLTuan/diffusion_pusht). |
|
|
| ## Final evaluation (PushT sim) |
|
|
| ```json |
| { |
| "avg_sum_reward": 95.75340378948943, |
| "avg_max_reward": 0.9197075582206707, |
| "pc_success": 54.0, |
| "n_episodes": 50, |
| "n_success": 27, |
| "pc_success_ci95": [ |
| 40.398871399157485, |
| 67.03034780777564 |
| ], |
| "eval_s": 52.36381912231445, |
| "eval_ep_s": 1.0472763919830321, |
| "video_paths": [ |
| "outputs/eval/diffusion_pusht/videos/pusht_0/eval_episode_0.mp4", |
| "outputs/eval/diffusion_pusht/videos/pusht_0/eval_episode_1.mp4", |
| "outputs/eval/diffusion_pusht/videos/pusht_0/eval_episode_2.mp4", |
| "outputs/eval/diffusion_pusht/videos/pusht_0/eval_episode_3.mp4", |
| "outputs/eval/diffusion_pusht/videos/pusht_0/eval_episode_4.mp4", |
| "outputs/eval/diffusion_pusht/videos/pusht_0/eval_episode_5.mp4", |
| "outputs/eval/diffusion_pusht/videos/pusht_0/eval_episode_6.mp4", |
| "outputs/eval/diffusion_pusht/videos/pusht_0/eval_episode_7.mp4", |
| "outputs/eval/diffusion_pusht/videos/pusht_0/eval_episode_8.mp4", |
| "outputs/eval/diffusion_pusht/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 \ |
| --output_dir=outputs/train/diffusion_pusht |
| |
| lerobot-eval --policy.path=NLTuan/diffusion_pusht --env.type=pusht \ |
| --eval.n_episodes=50 --eval.batch_size=25 |
| ``` |
|
|
