| --- |
| datasets: |
| - lerobot/pusht |
| language: en |
| library_name: lerobot |
| license: apache-2.0 |
| tags: |
| - robotics |
| - imitation-learning |
| - diffusion |
| - mujoco |
| - pytorch_model_hub_mixin |
| --- |
| |
| # DIFFUSION Policy — diffusion_pusht_seed3 |
|
|
| Trained with [LeRobot](https://github.com/huggingface/lerobot). |
| Date: `2026-05-29 02:01` |
| Policy type: `diffusion` | Device: `cuda` |
|
|
| --- |
|
|
| ## 📦 Dataset |
|
|
| | Parameter | Value | |
| |---|---| |
| | `dataset.repo_id` | `lerobot/pusht` | |
|
|
| --- |
|
|
| ## 🏋️ Training Config |
|
|
| | Parameter | Value | |
| |---|---| |
| | `steps` | `70000` | |
| | `batch_size` | `8` | |
| | `eval_freq` | `0` | |
| | `save_freq` | `20000` | |
| | `num_workers` | `4` | |
| | `seed` | `3` | |
| | `eval.n_episodes` | `1` | |
| | `eval.batch_size` | `1` | |
| | `eval.use_async_envs` | `True` | |
|
|
| --- |
|
|
| ## 📐 Policy Architecture |
|
|
| | Parameter | Value | |
| |---|---| |
| | `noise_scheduler_type` | `DDIM` | |
| | `num_inference_steps` | `15` | |
|
|
| --- |
|
|
| ## 🎯 Eval Config |
|
|
| | Parameter | Value | |
| |---|---| |
| | `env.type` | `pusht` | |
| | `env.task` | `PushT-v0` | |
| | `eval.n_episodes` | `8` | |
| | `eval.batch_size` | `4` | |
| | `eval.use_async_envs` | `False` | |
| | `policy.path` | `/kaggle/working/outputs/train/pusht_seed3/checkpoints/last/pretrained_model` | |
|
|
| --- |
|
|
| ## 📊 Eval Results |
|
|
| | Metric | Value | |
| |---|---| |
| | Episodes | `8` | |
| | Success rate | `12.5%` | |
| | Avg sum reward | `84.67` | |
| | Avg max reward | `0.66` | |
| | Eval time (s) | `48.2` | |
|
|
| --- |
|
|
| ## Citation |
|
|
| ```bibtex |
| @misc{cadene2024lerobot, |
| author = {Cadene, Remi and Alibert, Simon and others}, |
| title = {LeRobot}, |
| year = {2024}, |
| url = {https://github.com/huggingface/lerobot} |
| } |
| ``` |
