| --- |
| license: mit |
| tags: |
| - robomimic |
| - diffusion-policy |
| - imitation-learning |
| - robosuite |
| --- |
| |
| # 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: |
| ```python |
| from huggingface_hub import hf_hub_download |
| hf_hub_download( |
| "georginio2000/diffusion-square-nutassembly", |
| "checkpoints/model_epoch_1800_low_dim_success_0.95.pth", |
| ) |
| ``` |
|
|
|
|
