HSM1/pusht-franka-diffusion-policy

Push-T Diffusion Policy for a Franka Panda with a stick (simulation)

Run dp_image, checkpoint 050000. A LeRobot Diffusion Policy that pushes a T-shaped block onto a fixed T-shaped target with a stick held by a Franka Panda, in MuJoCo.

• —Inputs: observation.images.overhead, observation.images.wrist, observation.state (images overhead 96×96, wrist 96×96)
• —Output: commanded stick-tip [x, y] on the table (metres) at 10 Hz
• —Data: human mouse-teleoperated demos in simulation

pusht_meta.json stores the fps, camera definitions, image resolution and physics XML of the training data, so the simulator can reproduce the exact training conditions. Code, simulator and usage: see the project's GitHub repository (scripts/09_download_model.py, demo/sim_demo.py).