add README.md

README.md

@@ -0,0 +1,30 @@
+---
+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.