# 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` |