| --- |
| license: bsd-2-clause |
| pipeline_tag: robotics |
| --- |
| |
| # Diffusion Policy - RoboManipBaselines |
|
|
| This repository contains a Diffusion Policy model trained using the [RoboManipBaselines](https://github.com/isri-aist/RoboManipBaselines) framework. The model was trained with the [MujocoUR5eCable dataset](https://huggingface.co/datasets/RoboManipBaselines/MujocoUR5eCable). |
|
|
| - **Paper:** [RoboManipBaselines: A Unified Framework for Imitation Learning in Robotic Manipulation across Real and Simulation Environments](https://huggingface.co/papers/2509.17057) |
| - **Project Page:** [RoboManipBaselines Project Page](https://isri-aist.github.io/RoboManipBaselines-ProjectPage/) |
| - **Repository:** [GitHub - isri-aist/RoboManipBaselines](https://github.com/isri-aist/RoboManipBaselines) |
|
|
| ## Installation |
| For installation instructions, please refer to the [Diffusion Policy installation guide](https://github.com/isri-aist/RoboManipBaselines/blob/master/doc/install.md#Diffusion-policy) in the official repository. |
|
|
| ## Policy Rollout |
| To run the trained policy, use the following command from the top directory of the `robo_manip_baselines` repository: |
|
|
| ```console |
| # Go to the top directory of this repository |
| $ cd robo_manip_baselines |
| $ python ./bin/Rollout.py DiffusionPolicy MujocoUR5eCable --checkpoint ./checkpoint/DiffusionPolicy/<checkpoint_name>/policy_last.ckpt |
| ``` |
|
|
| ## Technical Details |
| This model implements the Diffusion Policy as described in: |
|
|
| ```bibtex |
| @INPROCEEDINGS{DiffusionPolicy_RSS23, |
| author = {Chi, Cheng and Feng, Siyuan and Du, Yilun and Xu, Zhenjia and Cousineau, Eric and Burchfiel, Benjamin and Song, Shuran}, |
| title = {Diffusion Policy: Visuomotor Policy Learning via Action Diffusion}, |
| booktitle = {Proceedings of Robotics: Science and Systems}, |
| year = {2023}, |
| month = {July}, |
| doi = {10.15607/RSS.2023.XIX.026} |
| } |
| ``` |
|
|
| ## Citation |
| If you use this model or the RoboManipBaselines framework in your research, please cite: |
|
|
| ```bibtex |
| @article{RoboManipBaselines_Murooka_2025, |
| title={RoboManipBaselines: A Unified Framework for Imitation Learning in Robotic Manipulation across Real and Simulation Environments}, |
| author={Murooka, Masaki and Motoda, Tomohiro and Nakajo, Ryoichi and Oh, Hanbit and Makihara, Koshi and Shirai, Keisuke and Ogata, Tetsuya and Domae, Yukiyasu}, |
| journal={arXiv preprint arXiv:2509.17057}, |
| year={2025} |
| } |
| ``` |
