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README.md

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+---
+license: mit
+tags:
+- diffusion-policy
+- imitation-learning
+- behavioral-cloning
+- robotics
+- push-task
+library_name: pytorch
+pipeline_tag: robotics
+---
+
+# Push-F Diffusion Policy
+
+A visuomotor diffusion policy trained to push an F-shaped block into a target orientation, adapted from the [Diffusion Policy](https://diffusion-policy.cs.columbia.edu/) codebase (Chi et al., 2023).
+
+## Model Description
+
+- **Architecture:** Diffusion UNet with ResNet18 image encoder
+- **Parameters:** 278M
+- **Observations:** 96x96 RGB image + 2D agent position
+- **Actions:** 2D target position for the agent
+- **Training data:** 101 human demonstrations (~29,800 timesteps)
+- **Training:** 250 epochs on NVIDIA H100, ~3.5 hours
+- **Framework:** PyTorch 2.0.1
+
+## Performance
+
+Evaluated on 50 held-out environment seeds:
+
+| Time Limit | Mean Score | Perfect Seeds (1.0) |
+|:----------:|:----------:|:-------------------:|
+| 30s        | 0.837      | 19/50               |
+| 45s        | 0.945      | 38/50               |
+| 60s        | 0.961      | 45/50               |
+| 90s        | 1.000      | 50/50               |
+
+## Usage
+
+```bash
+git clone https://github.com/bryandong24/reu_adaptation.git
+cd reu_adaptation
+
+# Set up environment
+mamba env create -f conda_environment.yaml
+conda activate robodiff
+pip install torch==2.0.1+cu118 torchvision==0.15.2+cu118 --extra-index-url https://download.pytorch.org/whl/cu118
+pip install -e .
+
+# Download checkpoint and evaluate
+python eval.py --checkpoint epoch=0250-test_mean_score=0.880.ckpt -o eval_output
+```
+
+## Training Details
+
+- **Loss:** MSE denoising loss (DDPM)
+- **Optimizer:** AdamW (lr=1e-4, weight_decay=1e-6)
+- **LR Schedule:** Cosine with 500-step warmup
+- **Batch size:** 64
+- **Horizon:** 16 steps (n_obs=2, n_action=8)
+- **Diffusion steps:** 100 (training), 100 (inference)
+- **EMA:** Enabled
+
+## Citation
+
+Based on:
+```bibtex
+@inproceedings{chi2023diffusionpolicy,
+    title={Diffusion Policy: Visuomotor Policy Learning via Action Diffusion},
+    author={Chi, Cheng and Feng, Siyuan and Du, Yilun and Xu, Zhenjia and Cousineau, Eric and Burchfiel, Benjamin and Song, Shuran},
+    booktitle={Proceedings of Robotics: Science and Systems (RSS)},
+    year={2023}
+}
+```
+
+## Links
+
+- [Full Report](https://github.com/bryandong24/reu_adaptation/blob/main/REPORT.md)
+- [Source Code](https://github.com/bryandong24/reu_adaptation)
+- [W&B Training Logs](https://wandb.ai/bryandong24-stanford-university/diffusion_policy_pushf)