Installation Follow HW.md and pip install moviepy Usage Training bash scripts/train_policy.sh {diff_pusht, reg_pusht, diff_calvin} Evaluation follows HW.md Push-T Benchmark Success rates train test diffusion 0.996 0.822 regression 0.846 0.823 Evaluation rollout videos diffusion 100000 100001 100002 100003 regression 100000 100001 100002 100003 Sampled trajectories (seed10001.mp4) diffusion seed=8 seed=16 regression (no difference) seed=8 seed=16 CALVIN Benchmark Success rates 1/5 : 55.0% | 2/5 : 0.0% | 3/5 : 0.0% | 4/5 : 0.0% | 5/5 : 0.0% || Evaluation rollout videos open succeed open failed close succeed 1 close succeed 2 Youtube DEMO https://youtu.be/dq_oauqjtqg
