georginio2000/diffusion-square-nutassembly

Diffusion Policy — NutAssemblySquare (Square/PH/low-dim)

A robomimic DiffusionPolicyUNet checkpoint (UNet + DDPM noise scheduler, action-chunked receding-horizon control: observation_horizon=2, action_horizon=8, prediction_horizon=16) trained for 2000 epochs on robomimic's public 200-demo Square/PH/low-dim dataset.

Rollout success rate (20 episodes, evaluated every 200 epochs):

Epoch	200	400	600	800	1000	1200	1400	1600	1800	2000
Success	85%	85%	85%	70%	75%	90%	85%	85%	95%	90%

Downloading a specific checkpoint:

from huggingface_hub import hf_hub_download
hf_hub_download(
    "georginio2000/diffusion-square-nutassembly",
    "checkpoints/model_epoch_1800_low_dim_success_0.95.pth",
)