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README.md

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+---
+license: apache-2.0
+tags:
+  - robotics
+  - diffusion-policy
+  - flow-matching
+  - lerobot
+  - rram
+---
+
+# FMLP-Policy: Flow Matching MLP for Robotic Control
+
+This project explores RRAM-compatible neural network architectures for robotic manipulation policies, replacing UNet with pure MLP (Linear + ReLU only) for deployment on analog RRAM accelerators.
+
+## Overview
+
+Diffusion Policy achieves SOTA on robotic manipulation but requires 50-100 denoising steps — impractical for RRAM deployment (each step needs ADC/DAC conversion). We explore:
+
+1. **Streaming Flow Policy (SFP)** — reduces to 1-4 integration steps
+2. **MLP velocity networks** — replaces UNet with RRAM-friendly architecture
+3. **Quantization + noise tolerance** — validates INT8 deployment with device variation
+
+## Models
+
+| Model | Architecture | Description |
+|-------|--------------|-------------|
+| [pusht_diffusion_v3](https://huggingface.co/Liyux/pusht_diffusion_v3) | ResNet18 + UNet | DP baseline, 136 episodes |
+| [pusht_diffusion_v4](https://huggingface.co/Liyux/pusht_diffusion_v4) | ResNet18 + UNet | DP baseline, 226 episodes |
+| [pusht_diffusion_v5](https://huggingface.co/Liyux/pusht_diffusion_v5) | ResNet18 + UNet | DP baseline, 255 episodes (best) |
+| [pusht_sfp_v9](https://huggingface.co/Liyux/pusht_sfp_v9) | ResNet18 + UNet | SFP working baseline |
+| [pusht_sfp_v14](https://huggingface.co/Liyux/pusht_sfp_v14) | ResNet18 + UNet | SFP with h50/k2/σ1 params |
+| [pusht_sfp_v15](https://huggingface.co/Liyux/pusht_sfp_v15) | ResNet18 + MLP | SFP with cond_residual MLP (RRAM-compatible) |
+
+## Dataset
+
+| Dataset | Episodes | Description |
+|---------|----------|-------------|
+| [pusht_real_merged](https://huggingface.co/datasets/Liyux/pusht_real_merged) | 255 | Real robot Push-T task, SO-101 arm, 320x240 |
+
+## Key Results
+
+**Sim (2D Push-T):**
+- MLP achieves 0.86-0.88 FP32 vs UNet 0.74
+- INT8 quantization: Bottleneck128+Skip achieves 0.86
+- Noise tolerance: <6% accuracy drop at 10% multiplicative noise
+
+**Real Robot:**
+- DP v5: >90% success rate
+- SFP v9: >70% success rate
+- SFP v14/v15: Testing in progress
+
+## Code
+
+- [Liyux3/lerobot_MLP-SFP](https://github.com/Liyux3/lerobot_MLP-SFP)
+
+## Hardware
+
+- Robot: SO-101 (LeRobot compatible)
+- Camera: HB Camera, top-down, 320x240 @ 30fps
+- Training: 2x RTX 4090
+
+## Citation
+
+Coming soon.
+
+## Acknowledgments
+
+- [LeRobot](https://github.com/huggingface/lerobot) framework
+- [Streaming Flow Policy](https://arxiv.org/abs/2505.21851) paper
+- HKU EEE
+
+---
+
+*Part of FYP project at The University of Hong Kong, supervised by Prof. Han Wang.*