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

route-pattern	/:user_id/:repository
route-controller	files
route-action	disambiguate
fetch-nonce	v2:07dc4f75-cf36-b4c4-5a37-67509358df36
current-catalog-service-hash	f3abb0cc802f3d7b95fc8762b94bdcb13bf39634c40c357301c4aa1d67a256fb
request-id	AD7A:19BE27:549EF8:6FD4DD:698F962A
html-safe-nonce	31e6111ad0d4b21e97877e735c016ad9f97faaeac580f6a30c4f358f6c2f1449
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visitor-hmac	58619837b2f0d6c93bc99b95b72b7f3e9e24e1180901f361edd4805385395671
hovercard-subject-tag	repository:1152554105
github-keyboard-shortcuts	repository,copilot
google-site-verification	Apib7-x98H0j5cPqHWwSMm6dNU4GmODRoqxLiDzdx9I
octolytics-url	https://collector.github.com/github/collect
analytics-location	//
fb:app_id	1401488693436528
apple-itunes-app	app-id=1477376905, app-argument=https://github.com/SeRViCE-Lab/diffusion_policy
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twitter:card	summary_large_image
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og:image:alt	[InfDim] Diffusion Policy Visuomotor Policy Learning via Action Diffusion - SeRViCE-Lab/diffusion_policy
og:image:width	1200
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og:site_name	GitHub
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octolytics-dimension-repository_parent_id	610943527
octolytics-dimension-repository_parent_nwo	real-stanford/diffusion_policy
octolytics-dimension-repository_network_root_id	610943527
octolytics-dimension-repository_network_root_nwo	real-stanford/diffusion_policy
turbo-body-classes	logged-out env-production page-responsive
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browser-stats-url	https://api.github.com/_private/browser/stats
browser-errors-url	https://api.github.com/_private/browser/errors
release	09a8136f6e8f8fd3078d54ce5f8b7adb493d44a7
ui-target	full
theme-color	#1e2327
color-scheme	light dark

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diffusion-policy.cs.columbia.edu/	https://diffusion-policy.cs.columbia.edu/
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20 Commits	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/commits/main/
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diffusion_policy	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/tree/main/diffusion_policy
diffusion_policy	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/tree/main/diffusion_policy
media	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/tree/main/media
media	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/tree/main/media
tests	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/tree/main/tests
tests	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/tree/main/tests
.gitignore	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/.gitignore
.gitignore	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/.gitignore
LICENSE	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/LICENSE
LICENSE	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/LICENSE
README.md	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/README.md
README.md	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/README.md
conda_environment.yaml	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/conda_environment.yaml
conda_environment.yaml	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/conda_environment.yaml
conda_environment_macos.yaml	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/conda_environment_macos.yaml
conda_environment_macos.yaml	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/conda_environment_macos.yaml
conda_environment_real.yaml	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/conda_environment_real.yaml
conda_environment_real.yaml	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/conda_environment_real.yaml
demo_pusht.py	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/demo_pusht.py
demo_pusht.py	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/demo_pusht.py
demo_real_robot.py	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/demo_real_robot.py
demo_real_robot.py	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/demo_real_robot.py
eval.py	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/eval.py
eval.py	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/eval.py
eval_real_robot.py	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/eval_real_robot.py
eval_real_robot.py	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/eval_real_robot.py
image_pusht_diffusion_policy_cnn.yaml	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/image_pusht_diffusion_policy_cnn.yaml
image_pusht_diffusion_policy_cnn.yaml	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/image_pusht_diffusion_policy_cnn.yaml
multirun_metrics.py	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/multirun_metrics.py
multirun_metrics.py	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/multirun_metrics.py
pyrightconfig.json	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/pyrightconfig.json
pyrightconfig.json	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/pyrightconfig.json
ray_exec.py	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/ray_exec.py
ray_exec.py	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/ray_exec.py
ray_train_multirun.py	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/ray_train_multirun.py
ray_train_multirun.py	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/ray_train_multirun.py
setup.py	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/setup.py
setup.py	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/setup.py
train.py	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/train.py
train.py	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/train.py
README	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy
License	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#diffusion-policy
[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 Chi	http://cheng-chi.github.io/
Siyuan Feng	https://www.cs.cmu.edu/~sfeng/
Yilun Du	https://yilundu.github.io/
Zhenjia Xu	https://www.zhenjiaxu.com/
Eric Cousineau	https://www.eacousineau.com/
Benjamin Burchfiel	http://www.benburchfiel.com/
Shuran Song	https://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 environment	https://colab.research.google.com/drive/1gxdkgRVfM55zihY9TFLja97cSVZOZq2B?usp=sharing
vision-based environment	https://colab.research.google.com/drive/18GIHeOQ5DyjMN8iIRZL2EKZ0745NLIpg?usp=sharing
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#-checkout-our-experiment-logs
paper	https://diffusion-policy.cs.columbia.edu/#paper
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#️-installation
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#️-simulation
Mambaforge	https://github.com/conda-forge/miniforge#mambaforge
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#-real-robot
UR5-CB3	https://www.universal-robots.com/cb3
UR5e	https://www.universal-robots.com/products/ur5-robot/
RTDE Interface	https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/
RealSense D415	https://www.intelrealsense.com/depth-camera-d415/
3Dconnexion SpaceMouse	https://3dconnexion.com/us/product/spacemouse-wireless/
Millibar Robotics Manual Tool Changer	https://www.millibar.com/manual-tool-changer/
End effector	https://cad.onshape.com/documents/a818888644a15afa6cc68ee5/w/2885b48b018cda84f425beca/e/3e8771c2124cee024edd2fed?renderMode=0&uiState=63ffcba6631ca919895e64e5
T-block	https://cad.onshape.com/documents/f1140134e38f6ed6902648d5/w/a78cf81827600e4ff4058d03/e/f35f57fb7589f72e05c76caf?renderMode=0&uiState=63ffcbc9af4a881b344898ee
RealSense SDK	https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md
	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
wandb	https://wandb.ai
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#running-for-multiple-seeds
AWS cluster with autoscaling	https://docs.ray.io/en/master/cluster/vms/user-guides/launching-clusters/aws.html
training logs	https://diffusion-policy.cs.columbia.edu/data/experiments/
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#-evaluate-pre-trained-checkpoints
https://diffusion-policy.cs.columbia.edu/data/experiments/low_dim/pusht/diffusion_policy_cnn/train_0/checkpoints/epoch=0550-test_mean_score=0.969.ckpt	https://diffusion-policy.cs.columbia.edu/data/experiments/low_dim/pusht/diffusion_policy_cnn/train_0/checkpoints/epoch=0550-test_mean_score=0.969.ckpt
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#-demo-training-and-eval-on-a-real-robot
real Push-T training dataset	https://diffusion-policy.cs.columbia.edu/data/training/pusht_real.zip
diffusion_policy/config/task/real_pusht_image.yaml	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/config/task/real_pusht_image.yaml
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#️-codebase-tutorial
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#the-split
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#the-interface
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#low-dim
LowdimPolicy	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/policy/base_lowdim_policy.py
LowdimDataset	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/dataset/base_dataset.py
LinearNormalizer	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/model/common/normalizer.py
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#image
ImagePolicy	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/policy/base_image_policy.py
ImageDataset	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/dataset/base_dataset.py
LinearNormalizer	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/model/common/normalizer.py
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#example
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#-key-components
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#workspace
BaseWorkspace	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/workspace/base_workspace.py
hydra	https://hydra.cc/
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#dataset
the interface	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#the-interface
the interface	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#the-interface
ReplayBuffer	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#replaybuffer
SequenceSampler	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/common/sampler.py
SequenceSampler	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/common/sampler.py
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#policy
the interface	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#the-interface
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#envrunner
gym.vector.AsyncVectorEnv	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/gym_util/async_vector_env.py
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#replaybuffer
ReplayBuffer	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/common/replay_buffer.py
zarr	https://zarr.readthedocs.io/en/stable/index.html
Jpeg2000 compression	https://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
SharedMemoryRingBuffer	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/shared_memory/shared_memory_ring_buffer.py
real robot implementation	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/real_world
SingleRealsense	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/real_world/single_realsense.py
SharedMemoryQueue	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/shared_memory/shared_memory_queue.py
RTDEInterpolationController	https://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 Gym	https://gymnasium.farama.org/
RealEnv	https://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
LICENSE	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/LICENSE
	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy#-acknowledgement
ConditionalUnet1D	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/model/diffusion/conditional_unet1d.py
Planning with Diffusion	https://github.com/jannerm/diffuser
TransformerForDiffusion	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/model/diffusion/transformer_for_diffusion.py
MinGPT	https://github.com/karpathy/minGPT
BET	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/model/bet
its original repo	https://github.com/notmahi/bet
IBC	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/policy/ibc_dfo_lowdim_policy.py
Kevin Zakka's reimplementation	https://github.com/kevinzakka/ibc
Robomimic	https://github.com/ARISE-Initiative/robomimic
ObservationEncoder	https://github.com/ARISE-Initiative/robomimic/blob/master/robomimic/models/obs_nets.py
Push-T	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/env/pusht
IBC	https://github.com/google-research/ibc
Block Pushing	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/env/block_pushing
BET	https://github.com/notmahi/bet
IBC	https://github.com/google-research/ibc
Kitchen	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/env/kitchen
BET	https://github.com/notmahi/bet
Relay Policy Learning	https://github.com/google-research/relay-policy-learning
shared_memory	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/blob/main/diffusion_policy/shared_memory
shared-ndarray2	https://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 page	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy
Activity	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/activity
Custom properties	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/custom-properties
1 star	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/stargazers
0 watching	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/watchers
0 forks	https://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
Releases	https://patch-diff.githubusercontent.com/SeRViCE-Lab/diffusion_policy/releases
Packages 0	https://patch-diff.githubusercontent.com/orgs/SeRViCE-Lab/packages?repo_name=diffusion_policy
	https://github.com
Terms	https://docs.github.com/site-policy/github-terms/github-terms-of-service
Privacy	https://docs.github.com/site-policy/privacy-policies/github-privacy-statement
Security	https://github.com/security
Status	https://www.githubstatus.com/
Community	https://github.community/
Docs	https://docs.github.com/
Contact	https://support.github.com?tags=dotcom-footer

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