lerobot-clone

mirror of https://github.com/huggingface/lerobot.git synced 2026-06-02 20:01:25 +00:00

Files

Adil Zouitine d32006440c refactor(processors): Improve Normalization Processor Performance and Device/Dtype Adaptability (#1880 )

* refactor(processors): reorder processor steps for consistency across implementations

- Updated the order of processor steps in multiple files to ensure consistency, placing AddBatchDimensionProcessorStep and DeviceProcessorStep before NormalizerProcessorStep.
- Adjusted related test assertions to reflect the new order of steps in the preprocessor, enhancing clarity and maintainability.

* refactor(normalization): remove dtype specification in tensor conversion for adaptation logic

- Updated tensor conversion in the _NormalizationMixin class to remove explicit dtype specification, allowing for automatic adaptation of tensor types.
- Adjusted related tests to ensure proper functionality with the new tensor conversion logic, verifying that normalizers adapt correctly to input types.

2025-09-08 10:46:35 +02:00

configuration_diffusion.py

fix(DiffusionPolicy): Fix bug where training without image features would crash with exception, fix environment state docs (#1617 )

2025-07-29 13:40:16 +02:00

modeling_diffusion.py

refactor(diffusion): remove normalization layer from input processing

2025-08-06 17:21:07 +02:00

processor_diffusion.py

refactor(processors): Improve Normalization Processor Performance and Device/Dtype Adaptability (#1880 )

2025-09-08 10:46:35 +02:00

README.md

Update readme (#1570 )

2025-08-01 17:39:39 +02:00

README.md

Paper

https://diffusion-policy.cs.columbia.edu

Citation

@article{chi2024diffusionpolicy,
	author = {Cheng Chi and Zhenjia Xu and Siyuan Feng and Eric Cousineau and Yilun Du and Benjamin Burchfiel and Russ Tedrake and Shuran Song},
	title ={Diffusion Policy: Visuomotor Policy Learning via Action Diffusion},
	journal = {The International Journal of Robotics Research},
	year = {2024},
}