| --- |
| tags: |
| - OpenRAL |
| - rskill |
| - diffusion-policy |
| - lerobot |
| - pusht |
| - manipulation |
| license: apache-2.0 |
| language: |
| - en |
| --- |
| |
| # rskill-diffusion-pusht |
|
|
| > **OpenRAL rSkill** — Diffusion Policy (Chi et al., 2023) trained on |
| > the PushT 2-D pushing benchmark, packaged for `OpenRAL`. |
|
|
| This package wraps [`lerobot/diffusion_pusht`](https://huggingface.co/lerobot/diffusion_pusht) |
| with a `rskill.yaml` manifest. It does **not** copy model weights. |
|
|
| ## Upstream model |
|
|
| | Field | Value | |
| | --- | --- | |
| | Source repo | [`lerobot/diffusion_pusht`](https://huggingface.co/lerobot/diffusion_pusht) | |
| | Paper | [arxiv:2303.04137](https://arxiv.org/abs/2303.04137) — *Diffusion Policy: Visuomotor Policy Learning via Action Diffusion* (Chi et al., 2023) | |
| | License | Apache-2.0 | |
| | Parameters | ~263 M (1-D U-Net) | |
| | Action chunk | 8 (within horizon 16) | |
| | Denoising | 100 DDPM steps per chunk | |
| | Benchmark | PushT (`gym_pusht`, `pymunk` 2-D rigid-body) | |
|
|
| Per-chunk inference is dominated by the 100-step denoising loop; cached |
| pops are essentially free, so this is the extreme test of the |
| queue-drain contract in `ChunkedExecutor`. |
|
|
| ## Supported robots |
|
|
| | Robot | Embodiment tag | Status | Notes | |
| | --- | --- | --- | --- | |
| | PushT 2-D pseudo-robot (`gym_pusht/PushT-v0`) | `pusht`, `lerobot` | ✓ sim | 2-D end-effector pushing a T block on a 512 × 512 px canvas | |
|
|
| ## Sensors required |
|
|
| | Key | Type | Resolution | Format | |
| | --- | --- | --- | --- | |
| | `observation.image` | RGB camera | 96 × 96 | `float32` | |
|
|
| PushT predates the multi-cam `observation.images.cameraN` convention and |
| exposes the raw key `observation.image`. |
|
|
| ## Manifest summary |
|
|
| | Field | Value | |
| | --- | --- | |
| | `name` | `OpenRAL/rskill-diffusion-pusht` | |
| | `version` | `0.1.0` | |
| | `license` | `apache-2.0` | |
| | `role` | `s1` | |
| | `embodiment_tags` | `pusht`, `lerobot` | |
| | `runtime` / `quantization.dtype` | `pytorch` / `fp32` | |
| | `weights_uri` | `hf://lerobot/diffusion_pusht` | |
| | `latency_budget.per_chunk_ms` | 1 250 ms (warm full-chunk ≈ 1 756 ms on RTX 4070 Laptop, dominated by DDPM) | |
| | `latency_budget.warmup_ms` | 10 000 ms | |
| | `latency_budget.load_ms` | 30 000 ms | |
| | `commercial_use_allowed` | `true` | |
|
|
| Full schema: `openral_core.RSkillManifest` — |
| `python/core/src/openral_core/schemas.py`. |
|
|
| ## Reproduction |
|
|
| ```bash |
| git clone https://github.com/OpenRAL/openral && cd OpenRAL |
| just bootstrap && uv sync --all-packages --group sim |
| |
| # End-to-end via the canonical SimEnvironment config (CPU is enough): |
| just sim-diffusion-pusht |
| # which runs: |
| # openral sim run --config scenes/benchmarks/diffusion_pusht.yaml --save-video |
| |
| # Sim test (gym_pusht + pymunk): |
| uv run pytest tests/sim/test_pusht_2d_diffusion_pusht.py -v -m sim |
| ``` |
|
|
| ## License |
|
|
| This rSkill package (`rskill.yaml`, `README.md`) is **Apache-2.0** to |
| match the upstream weights. Commercial use is allowed |
| (`commercial_use_allowed: true`). |
|
|
| ## See also |
|
|
| - [`robots/pusht_2d/README.md`](../../robots/pusht_2d/README.md) — RobotDescription manifest. |
| - [`scenes/benchmarks/diffusion_pusht.yaml`](../../scenes/benchmarks/diffusion_pusht.yaml) — paired SimEnvironment config. |
| - [`docs/reference/vla_compatibility.md`](../../docs/reference/vla_compatibility.md) — VLA × Robot × Sim matrix. |
|
|
