| --- |
| license: mit |
| library_name: pytorch |
| --- |
| |
| # Push-T diffusion policy checkpoints |
|
|
| Two Push-T diffusion policy checkpoints with a minimal inference script. |
|
|
| ## Files |
|
|
| - `original.ckpt` — original checkpoint |
| - `edited.pt` — edited checkpoint |
| - `stats_sfp.npz` — normalization stats (obs / action min/max) |
| - `inference.py` — inference script |
|
|
| ## Quick start |
|
|
| ```bash |
| pip install torch diffusers pygame pymunk shapely scikit-image imageio gym numpy |
| git clone https://github.com/columbia-ai-robotics/streaming_flow_policy.git |
| |
| python inference.py --ckpt original.ckpt --stats stats_sfp.npz \ |
| --sfp-repo streaming_flow_policy/ --n-seeds 50 |
| |
| python inference.py --ckpt edited.pt --stats stats_sfp.npz \ |
| --sfp-repo streaming_flow_policy/ --n-seeds 50 --save-mp4 rollout.mp4 |
| ``` |
|
|
| Prints success rate and mode distribution; optional `--save-mp4` renders the first successful rollout. |
|
|
