---
license: bsd-2-clause
---
# Diffusion Policy

The model was trained with the [MujocoUR5eCable dataset](https://huggingface.co/datasets/RoboManipBaselines/MujocoUR5eCable).

## Install
See [GitHub](https://github.com/isri-aist/RoboManipBaselines/blob/master/doc/install.md#Diffusion-policy) for installation.

## Policy rollout
Run a trained policy:
```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
For more information on the technical details, please see the following paper:
```bib
@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}
}
```

## RoboManipBaselines Paper
https://huggingface.co/papers/2509.17057