---
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",
)
```