René's URL Explorer Experiment


Title: GitHub - SeRViCE-Lab/diffusion_policy: [InfDim] Diffusion Policy Visuomotor Policy Learning via Action Diffusion

Open Graph Title: GitHub - SeRViCE-Lab/diffusion_policy: [InfDim] Diffusion Policy Visuomotor Policy Learning via Action Diffusion

X Title: GitHub - SeRViCE-Lab/diffusion_policy: [InfDim] Diffusion Policy Visuomotor Policy Learning via Action Diffusion

Description: [InfDim] Diffusion Policy Visuomotor Policy Learning via Action Diffusion - SeRViCE-Lab/diffusion_policy

Open Graph Description: [InfDim] Diffusion Policy Visuomotor Policy Learning via Action Diffusion - SeRViCE-Lab/diffusion_policy

X Description: [InfDim] Diffusion Policy Visuomotor Policy Learning via Action Diffusion - SeRViCE-Lab/diffusion_policy

Opengraph URL: https://github.com/SeRViCE-Lab/diffusion_policy

X: @github

direct link

Domain: patch-diff.githubusercontent.com

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conda_environment.yamlhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/conda_environment.yaml
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conda_environment_macos.yamlhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/conda_environment_macos.yaml
conda_environment_real.yamlhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/conda_environment_real.yaml
conda_environment_real.yamlhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/conda_environment_real.yaml
demo_pusht.pyhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/demo_pusht.py
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eval_real_robot.pyhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/eval_real_robot.py
eval_real_robot.pyhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/eval_real_robot.py
image_pusht_diffusion_policy_cnn.yamlhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/image_pusht_diffusion_policy_cnn.yaml
image_pusht_diffusion_policy_cnn.yamlhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/image_pusht_diffusion_policy_cnn.yaml
multirun_metrics.pyhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/multirun_metrics.py
multirun_metrics.pyhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/multirun_metrics.py
pyrightconfig.jsonhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/pyrightconfig.json
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ray_train_multirun.pyhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/ray_train_multirun.py
ray_train_multirun.pyhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/ray_train_multirun.py
setup.pyhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/setup.py
setup.pyhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/setup.py
train.pyhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/train.py
train.pyhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/train.py
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[Project page]https://diffusion-policy.cs.columbia.edu/
[Paper]https://diffusion-policy.cs.columbia.edu/#paper
[Data]https://diffusion-policy.cs.columbia.edu/data/
[Colab (state)]https://colab.research.google.com/drive/1gxdkgRVfM55zihY9TFLja97cSVZOZq2B?usp=sharing
[Colab (vision)]https://colab.research.google.com/drive/18GIHeOQ5DyjMN8iIRZL2EKZ0745NLIpg?usp=sharing
Cheng Chihttp://cheng-chi.github.io/
Siyuan Fenghttps://www.cs.cmu.edu/~sfeng/
Yilun Duhttps://yilundu.github.io/
Zhenjia Xuhttps://www.zhenjiaxu.com/
Eric Cousineauhttps://www.eacousineau.com/
Benjamin Burchfielhttp://www.benburchfiel.com/
Shuran Songhttps://www.cs.columbia.edu/~shurans/
https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/media/teaser.png
https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/media/multimodal_sim.png
https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#-try-it-out
state-based environmenthttps://colab.research.google.com/drive/1gxdkgRVfM55zihY9TFLja97cSVZOZq2B?usp=sharing
vision-based environmenthttps://colab.research.google.com/drive/18GIHeOQ5DyjMN8iIRZL2EKZ0745NLIpg?usp=sharing
https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#-checkout-our-experiment-logs
paperhttps://diffusion-policy.cs.columbia.edu/#paper
https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#️-installation
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Mambaforgehttps://github.com/conda-forge/miniforge#mambaforge
https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#-real-robot
UR5-CB3https://www.universal-robots.com/cb3
UR5ehttps://www.universal-robots.com/products/ur5-robot/
RTDE Interfacehttps://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/
RealSense D415https://www.intelrealsense.com/depth-camera-d415/
3Dconnexion SpaceMousehttps://3dconnexion.com/us/product/spacemouse-wireless/
Millibar Robotics Manual Tool Changerhttps://www.millibar.com/manual-tool-changer/
End effectorhttps://cad.onshape.com/documents/a818888644a15afa6cc68ee5/w/2885b48b018cda84f425beca/e/3e8771c2124cee024edd2fed?renderMode=0&uiState=63ffcba6631ca919895e64e5
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https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#️-reproducing-simulation-benchmark-results
https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#download-training-data
https://diffusion-policy.cs.columbia.edu/data/training/https://diffusion-policy.cs.columbia.edu/data/training/
https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#running-for-a-single-seed
wandbhttps://wandb.ai
https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#running-for-multiple-seeds
AWS cluster with autoscalinghttps://docs.ray.io/en/master/cluster/vms/user-guides/launching-clusters/aws.html
training logshttps://diffusion-policy.cs.columbia.edu/data/experiments/
https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#-evaluate-pre-trained-checkpoints
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real Push-T training datasethttps://diffusion-policy.cs.columbia.edu/data/training/pusht_real.zip
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hydrahttps://hydra.cc/
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the interfacehttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#the-interface
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zarrhttps://zarr.readthedocs.io/en/stable/index.html
Jpeg2000 compressionhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/codecs/imagecodecs_numcodecs.py
https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#sharedmemoryringbuffer
SharedMemoryRingBufferhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/shared_memory/shared_memory_ring_buffer.py
real robot implementationhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/real_world
SingleRealsensehttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/real_world/single_realsense.py
SharedMemoryQueuehttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/shared_memory/shared_memory_queue.py
RTDEInterpolationControllerhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/real_world/rtde_interpolation_controller.py
https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#realenv
OpenAI Gymhttps://gymnasium.farama.org/
RealEnvhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/real_world/real_env.py
https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#-adding-a-task
https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#-adding-a-method
https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#️-license
LICENSEhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/LICENSE
https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#-acknowledgement
ConditionalUnet1Dhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/model/diffusion/conditional_unet1d.py
Planning with Diffusionhttps://github.com/jannerm/diffuser
TransformerForDiffusionhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/model/diffusion/transformer_for_diffusion.py
MinGPThttps://github.com/karpathy/minGPT
BEThttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/model/bet
its original repohttps://github.com/notmahi/bet
IBChttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/policy/ibc_dfo_lowdim_policy.py
Kevin Zakka's reimplementationhttps://github.com/kevinzakka/ibc
Robomimichttps://github.com/ARISE-Initiative/robomimic
ObservationEncoderhttps://github.com/ARISE-Initiative/robomimic/blob/master/robomimic/models/obs_nets.py
Push-Thttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/env/pusht
IBChttps://github.com/google-research/ibc
Block Pushinghttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/env/block_pushing
BEThttps://github.com/notmahi/bet
IBChttps://github.com/google-research/ibc
Kitchenhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/env/kitchen
BEThttps://github.com/notmahi/bet
Relay Policy Learninghttps://github.com/google-research/relay-policy-learning
shared_memoryhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/shared_memory
shared-ndarray2https://gitlab.com/osu-nrsg/shared-ndarray2
diffusion-policy.cs.columbia.edu/https://diffusion-policy.cs.columbia.edu/
Readme https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#readme-ov-file
MIT license https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#MIT-1-ov-file
Please reload this pagehttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy
Activityhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/activity
Custom propertieshttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/custom-properties
1 starhttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/stargazers
0 watchinghttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/watchers
0 forkshttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/forks
Report repository https://patch-diff.githubusercontent.com/contact/report-content?content_url=https%3A%2F%2Fgithub.com%2FSeRViCE-Lab%2Fdiffusion_policy&report=SeRViCE-Lab+%28user%29
Releaseshttps://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/releases
Packages 0https://patch-diff.githubusercontent.com/orgs/SeRViCE-Lab/packages?repo_name=diffusion_policy
https://github.com
Termshttps://docs.github.com/site-policy/github-terms/github-terms-of-service
Privacyhttps://docs.github.com/site-policy/privacy-policies/github-privacy-statement
Securityhttps://github.com/security
Statushttps://www.githubstatus.com/
Communityhttps://github.community/
Docshttps://docs.github.com/
Contacthttps://support.github.com?tags=dotcom-footer

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