---
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}
}
```