|
--- |
|
license: "mit" |
|
datasets: |
|
- robomimic |
|
- Push-T |
|
arxiv: 2307.01849 |
|
tags: |
|
- robotics |
|
- diffusion |
|
- self-supervised learning |
|
- behaviour-cloning |
|
- diffusion policy |
|
--- |
|
# Crossway Diffusion: Improving Diffusion-based Visuomotor Policy via Self-supervised Learning |
|
|
|
This is the checkpoint release of the [ICRA'24](https://2024.ieee-icra.org/) paper [Crossway Diffusion: Improving Diffusion-based Visuomotor Policy via Self-supervised Learning](https://arxiv.org/abs/2307.01849). |
|
|
|
|
|
This repo contains: |
|
- Pretrained models (500 epochs): `./checkpoints/crossway_diffusion-<task>-s<seed>.ckpt` |
|
- SHA1 checksums: `./checkpoints/crossway_diffusion-<task>-s<seed>.ckpt.sha1` |
|
- Evaluation results (1000 episodes): `./checkpoints/crossway_diffusion-<task>-s<seed>.ckpt.json` |
|
|
|
Available tasks: `can_mh`, `can_ph`, `lift_mh`, `lift_ph`, `square_mh`, `square_ph`, `transport_mh`, `transport_ph`, `tool_hang_ph`, `pusht` |
|
|
|
Available seeds: `42`, `43`, `44` |
|
|
|
Please replace `<task>` with a specific task name and replace `<seed>` with `42`, `43`, or `44` to navigate the repo. |
|
For example, the path of pretrained model for task Push-T trained on seed 42 is `./checkpoints/crossway_diffusion-pusht-s42.ckpt` |
|
|
|
For the training and evaluation code, please visit our [github repo](https://github.com/LostXine/crossway_diffusion). |
|
|
|
Watch [🎬 video presentation](https://youtu.be/9deKHueZBuk)! |
|
|
|
For questions, please raise a [github issue](https://github.com/LostXine/crossway_diffusion/issues). |
|
|
