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@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+eval_episode_3.mp4 filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,139 @@
+---
+license: apache-2.0
+library_name: lerobot
+tags:
+  - robotics
+  - imitation-learning
+  - aloha
+  - diffusion-policy
+  - lerobot
+  - baseline
+datasets:
+  - lerobot/aloha_sim_transfer_cube_human_image
+pipeline_tag: robotics
+---
+
+# Diffusion Policy for ALOHA TransferCube Task (Baseline)
+
+⚠️ **Note: This model underperforms ACT on this task. Published for comparison purposes.**
+
+A Diffusion Policy model trained on the ALOHA simulation TransferCube task. This model is published as a **baseline comparison** to demonstrate that ACT significantly outperforms Diffusion Policy on ALOHA bimanual tasks.
+
+## Key Finding
+
+| Model | Steps | Success Rate | Parameters |
+|-------|-------|--------------|------------|
+| **ACT** | 60K | **42%** | 52M |
+| Diffusion Policy | 200K | 10% | ~100M |
+
+**Conclusion: ACT is the recommended approach for ALOHA tasks.**
+
+## Model Description
+
+| Property | Value |
+|----------|-------|
+| Architecture | Diffusion Policy |
+| Parameters | ~100M |
+| Task | ALOHA TransferCube-v0 |
+| Training Steps | 200,000 |
+| Batch Size | 32 |
+| Success Rate | ~10% |
+
+## Training Data
+
+- **Dataset**: [lerobot/aloha_sim_transfer_cube_human_image](https://huggingface.co/datasets/lerobot/aloha_sim_transfer_cube_human_image)
+- **Episodes**: 50 human demonstrations
+- **Frames**: 20,000
+
+## Task Description
+
+The TransferCube task requires a bimanual robot to:
+1. Pick up a red cube with the right arm
+2. Transfer the cube to the left gripper
+
+## Demo Video
+
+<video controls src="eval_episode_3.mp4" title="TransferCube Diffusion Policy Demo"></video>
+
+## Training Environment
+
+- **GPU**: RTX A6000
+- **Framework**: LeRobot 0.4.3
+- **Training Time**: Around 12 hours
+
+## Usage
+
+### Installation
+```bash
+pip install lerobot gym-aloha
+```
+
+### Training
+```bash
+lerobot-train \
+    --policy.type=diffusion \
+    --dataset.repo_id=lerobot/aloha_sim_transfer_cube_human_image \
+    --env.type=aloha \
+    --env.task=AlohaTransferCube-v0 \
+    --batch_size=32 \
+    --steps=200000 \
+    --eval.n_episodes=10 \
+    --eval_freq=20000 \
+    --save_freq=20000 \
+    --output_dir=./outputs/dp_aloha_transfer_cube \
+    --wandb.enable=false \
+    --policy.push_to_hub=false
+```
+
+### Evaluation
+```bash
+lerobot-eval \
+    --policy.path=LeTau/diffusion_aloha_transfer_cube \
+    --env.type=aloha \
+    --env.task=AlohaTransferCube-v0 \
+    --eval.batch_size=1 \
+    --eval.n_episodes=20
+```
+
+## Results
+
+| Steps | Episodes | Success Rate | Avg Sum Reward |
+|-------|----------|--------------|----------------|
+| 100K | 10 | 10% | 23.7 |
+| 200K | 10 | 10% | 23.3 |
+
+**No improvement from 100K to 200K steps.**
+
+## Why Does Diffusion Policy Underperform?
+
+1. **ACT is designed for ALOHA**: ACT was specifically created for bimanual manipulation tasks
+2. **Data efficiency**: Diffusion Policy may need more demonstrations to learn effectively
+3. **Task characteristics**: TransferCube requires precise, deterministic actions rather than multi-modal action distributions
+
+## Recommendation
+
+For ALOHA bimanual tasks, use **ACT** instead:
+- [LeTau/act_aloha_transfer_cube](https://huggingface.co/LeTau/act_aloha_transfer_cube) - 42% success rate
+
+## Citation
+```bibtex
+@article{zhao2023learning,
+  title={Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware},
+  author={Zhao, Tony Z and Kumar, Vikash and Levine, Sergey and Finn, Chelsea},
+  journal={arXiv preprint arXiv:2304.13705},
+  year={2023}
+}
+
+@article{chi2023diffusion,
+  title={Diffusion Policy: Visuomotor Policy Learning via Action Diffusion},
+  author={Chi, Cheng and Feng, Siyuan and Du, Yilun and Xu, Zhenjia and Cousineau, Eric and Burchfiel, Benjamin and Song, Shuran},
+  journal={arXiv preprint arXiv:2303.04137},
+  year={2023}
+}
+```
+
+## Acknowledgments
+
+- [LeRobot](https://github.com/huggingface/lerobot) framework by HuggingFace
+- [ALOHA](https://tonyzhaozh.github.io/aloha/) project by Stanford
+- [Diffusion Policy](https://diffusion-policy.cs.columbia.edu/) project by Columbia

config.json

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+        "STATE": "MIN_MAX",
+        "ACTION": "MIN_MAX"
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+        1024,
+        2048
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+    "use_film_scale_modulation": true,
+    "noise_scheduler_type": "DDPM",
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+    "beta_end": 0.02,
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+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-06,
+    "scheduler_name": "cosine",
+    "scheduler_warmup_steps": 500
+}

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train_config.json

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+}