---
license: other
library_name: pytorch
tags:
  - robotics
  - diffusion-policy
  - latent-action
  - bridge-v2
  - semantic-latent-action-space
datasets:
  - bridge
---

# Semantic Latent Diffusion Policy

This repository stores checkpoint artifacts for the semantic latent action space experiments.

## Scope

The uploaded artifacts cover the full BRIDGE experiment suite under `full_bridge_seed0`:

- RoLD baseline LAT.
- Multi-delta semantic LAT.
- Plain monolithic LDP on RoLD LAT.
- Plain monolithic LDP on multi-delta LAT.
- Semantic-intent LDP on multi-delta LAT.
- Semantic-intent + semantic-denoising LDP.
- K=4 RoLD and multi-delta expert policies.
- K=4 observation routers and semantic-intent router.
- Evaluation metrics, training configs, and launch scripts.

The BRIDGE dataset and cached R3M feature directories are **not** included.

## Important Conditioning Note

The full dataset metadata contains `task_name` strings, but the completed runs used
`task_label_mode=original`, i.e. categorical task-id conditioning. These checkpoints
are not language-token-conditioned policies.

## Main Full-Dataset Results

| Model | Test MSE | Motion MSE | Gripper MSE | Gripper Acc |
|---|---:|---:|---:|---:|
| RoLD plain LDP | 0.037981 | 0.001409 | 0.257416 | 0.7278 |
| Multi-delta plain LDP | 0.038589 | 0.001408 | 0.261680 | 0.7257 |
| Multi-delta semantic-intent LDP | 0.036052 | 0.001372 | 0.244134 | 0.7434 |
| Multi-delta semantic-intent + semantic denoising | 0.036084 | 0.001366 | 0.244389 | 0.7433 |

## Key Interpretation

The multi-delta semantic LAT strongly improves visual-effect latent geometry, but a
plain monolithic LDP does not automatically benefit. Semantic-intent LDP improves
offline action prediction, supporting the representation-policy gap hypothesis.

## Structure

- `checkpoints/full_bridge_seed0/`: all full-dataset checkpoints, configs, metrics, and summaries.
- `scripts/`: launch/evaluation scripts used to run the experiments.
- `MODEL_INDEX.md`: map from experiment names to checkpoint paths.
- `manifest.json`: uploaded file manifest.

Repository target used by uploader: `bageldotcom/semantic-latent-diffusion-policy`.