---
license: mit
task_categories:
  - robotics
tags:
  - robotics
  - diffusion-policy
  - imitation-learning
  - kinder
  - mujoco
library_name: kinder-diffusion-policy
---

# KinDER — Diffusion Policy + Environment States (DPES) Checkpoints

Trained **DP + Environment States (DPES)** checkpoints for the
[KinDER](https://prpl-group.com/kinder-site/)
physical-reasoning benchmark (RSS 2026).

Each checkpoint is an imitation learning policy trained from **~100 human
demonstrations** per environment.
The training code lives in
[kinder-diffusion-policy](https://github.com/Princeton-Robot-Planning-and-Learning/kinder-diffusion-policy)
(a fork of [diffusion_policy](https://github.com/real-stanford/diffusion_policy)).
Demonstrations are available at
[kinder-bench/kinder-datasets](https://huggingface.co/datasets/kinder-bench/kinder-datasets).

---

## Checkpoints

| Path | KinDER environment | Trained epochs | Final train loss |
|------|--------------------|---------------|-----------------|
| `motion2d/epoch=1000-train_loss=0.000.ckpt` | `Motion2D-p0` | 1 000 | 0.000 |
| `stickbutton2d/epoch=2000-train_loss=0.001.ckpt` | `StickButton2D-b1` | 2 000 | 0.001 |
| `dynobstruction2d/epoch=2000-train_loss=0.000.ckpt` | `DynObstruction2D-o1` | 2 000 | 0.000 |
| `dynpushpullhook2d/epoch=0900-train_loss=0.001.ckpt` | `DynPushPullHook2D-o5` | 900 | 0.001 |
| `basemotion3d/epoch=2000-train_loss=0.000.ckpt` | `BaseMotion3D` | 2 000 | 0.000 |
| `shelf3d/epoch=0300-train_loss=0.000.ckpt` | `Shelf3D` | 300 | 0.000 |
| `sweep3d/epoch=0300-train_loss=0.001.ckpt` | `SweepIntoDrawer3D` | 300 | 0.001 |
| `transport3d/epoch=0100-train_loss=0.000.ckpt` | `Transport3D-o2` | 100 | 0.000 |

---

## Method

**DP + Environment States (DPES)** extends standard Diffusion Policy by
incorporating additional low-level environment state vectors as input alongside
RGB images. The environment states are encoded with **MLPs** before being fused
with the image features and passed to the diffusion model.

### Comparison with Diffusion Policy (DP)

| | DP | DPES |
|-|----|------|
| RGB image input | ✓ | ✓ |
| Environment state input | — | ✓ (MLP-encoded) |
| Robot state input | — | ✓ (MLP-encoded) |
| Action output | diffusion | diffusion |

### Inputs

**2D environments** — single overhead RGB image (224 × 224) + flat state vector:

| State vector | Content |
|-------------|---------|
| `robot_state` | Robot proprioception (joint positions, velocities) |
| `env_state` | Object / scene state (positions, orientations of all relevant entities) |

**3D TidyBot environments** — three RGB cameras (base 224 × 224, wrist 224 × 224,
overview 224 × 224) + flat state vectors as above.

The environment and robot state vectors are each passed through a small MLP
encoder before concatenation with the visual features, giving the policy direct
access to precise geometric information that may be hard to extract from pixels
alone.

### Output

Action chunk predicted by iterative DDPM denoising, identical to DP.

---

## Usage

### 1. Install dependencies

```bash
# Clone and set up kinder-diffusion-policy
git clone git@github.com:Princeton-Robot-Planning-and-Learning/kinder-diffusion-policy.git
cd kinder-diffusion-policy
# Follow the environment setup instructions in the repo README
mamba activate robodiff
```

```bash
# Install the kinder-imitation-learning inference utilities
cd kinder-baselines/kinder-imitation-learning
uv pip install -r prpl_requirements.txt
uv pip install -e ".[develop]"
```

### 2. Launch the policy server

```bash
cd ~/kinder-diffusion-policy
mamba activate robodiff
python policy_server.py --ckpt-path /path/to/sweep3d/epoch=0300-train_loss=0.001.ckpt
```

### 3. Run evaluation

```bash
cd kinder-baselines/kinder-models/scripts
python inference.py \
    --env-name kinder/SweepIntoDrawer3D-o5-v0 \
    --save-videos \
    --num-seeds 1 \
    --num-episodes 5 \
    --max-steps 200
```

Replace `--env-name` and `--ckpt-path` with the environment and checkpoint of your choice.

---

## Training from scratch

```bash
# Convert raw teleoperation recordings to HDF5
cd kinder-baselines/kinder-models/scripts
python demos_to_hdf5.py \
    --teleop_data_dir $YOUR_DATA_DIR \
    --output_path $OUTPUT_HDF5_PATH \
    --render_images

# Train with the DPES config (includes state inputs)
cd ~/kinder-diffusion-policy
mamba activate robodiff
python train.py --config-name=train_sweep3d_image_state
```

---

## Related resources

| Resource | Link |
|----------|------|
| KinDER benchmark | [kindergarden](https://github.com/Princeton-Robot-Planning-and-Learning/kindergarden) |
| Training code | [kinder-diffusion-policy](https://github.com/Princeton-Robot-Planning-and-Learning/kinder-diffusion-policy) |
| Demonstration datasets | [kinder-bench/kinder-datasets](https://huggingface.co/datasets/kinder-bench/kinder-datasets) |
| DP (image-only) checkpoints | kinder-bench/kinder-DP-checkpoints |
| Finetuned π0.5 VLA checkpoints | [kinder-openpi](https://github.com/Princeton-Robot-Planning-and-Learning/kinder-openpi) |

---

## Citation

If you use these datasets, please cite the paper: [KinDER: A Physical Reasoning Benchmark for Robot Learning and Planning](https://huggingface.co/papers/2604.25788):

```bibtex
@inproceedings{huang2026kinder,
  title     = {KinDER: A Physical Reasoning Benchmark for Robot Learning and Planning},
  author    = {Huang, Yixuan and Li, Bowen and Saxena, Vaibhav and Liang, Yichao and Mishra, Utkarsh and Ji, Liang and Zha, Lihan and Wu, Jimmy and Kumar, Nishanth and Scherer, Sebastian and Xu, Danfei and Silver, Tom},
  booktitle = {Robotics: Science and Systems (RSS)},
  year      = {2026}
}
```