| # vanilla_dp_checkpoints | |
| Vanilla Diffusion Policy (DiffusionUnetHybridImagePolicy) checkpoints for two | |
| robosuite-pomdp tasks. Each `latest.ckpt` is the rolling checkpoint at ~epoch 300 | |
| (abs action, rotation_6d 10-dim; obs = task camera + robot0_eye_in_hand_image + | |
| eef_pos/eef_quat/gripper_qpos, 96x96). | |
| | Task | env | dataset | file | | |
| |------|-----|---------|------| | |
| | open_doors | OpenDoorsVision | image_opendoors.hdf5 | `open_doors/latest.ckpt` | | |
| | find_soda | FindSodaVision | image_findsoda_fixed.hdf5 | `find_soda/latest.ckpt` | | |