metadata
license: mit
datasets:
- lerobot/pusht_image
tags:
- lerobot
- pusht
- diffusion
Model Card for Mini Diffusion Policy / PushT
We add few lines to add an extra level-2 minibatch for Diffusion Policy (as per Mini Diffuser (ICRA 2026)) trained for the PushT environment from gym-pusht. This enables tens of equivalent batch size per gradient step, and end up saving at least 60% of the training time to obtain similar training results.
How to Get Started with the Model
See the LeRobot library for instructions on how to load and evaluate this model.
Training Details
Trained with a forked LeRobot@ 7bd533a.
The model was trained using LeRobot's training script and with the pusht dataset, using this command:
lerobot-train --policy.type=minidiffusion --dataset.repo_id=lerobot/pusht_image\
--env.type=pusht --seed=100000 --batch_size=32 --log_freq=200 --wandb.disable_artifact=true\
--steps=100000 --eval_freq=10000 --save_freq=10000 --wandb.enable=true --policy.repo_id=id\
--wandb.project=minidp --policy.push_to_hub=false --policy.level2_batch_size=8 --job_name=minidp-32-8
The training curves, and the comparasions with original DP may be found at https://api.wandb.ai/links/hu2240877635/defcr4wu