#policy.diffusion_transformer_hybrid_image_policy.DiffusionTransformerLowdimPolicy# === inference ===defconditional_sample(self,#此函数的作用是k步去噪,输入cond是图片特征,cond_data,cond_mask只有在图片特征的部分分别是特征、True,其余0,Falsecondition_data,condition_mask,#cond_data:(B,T,ac_dim)or(B,...
# 输入以下指令进行训练 python train.py --config-dir=. --config-name=image_pusht_diffusion_policy_cnn.yaml training.seed=42 training.device=cuda:0 hydra.run.dir='data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}' 以上就是关于deffusion policy的代码复现全部过程,详细...
具身智能新思路———Diffusion Policy 结合 PPO 模仿+强化 (上) 1999播放 【较真系列】讲人话-Diffusion Model全解(原理+代码+公式) 2.2万播放 Diffusion Models 扩散模型 数学解释 1190播放 使用真实ur机械臂在Robosuite环境中收集轨迹 3960播放 使用自定义环境收集数据集并基于diffusion policy训练一个简单的抓取任务...
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代码语言:javascript 复制 importtorchimportnumpyasnp from torchimportnn from tqdmimporttqdmimporttorch.utils.dataimportmatplotlib.pyplotasplt from sklearn.datasetsimportmake_swiss_roll defsample_batch(size):x,_=make_swiss_roll(size)returnx[:,[2,0]]/10.0*np.array([1,-1])classMLP(nn.Module):def...
"imagePullPolicy": "IfNotPresent", "name": "stable-diffusion", "resources": { "requests": { "nvidia.com/gpu": "1" } }, "volumeMounts": [ { "mountPath": "/stable-diffusion-webui/models/Stable-diffusion/", "name": "model" } ] } ], "restartPolicy": "Never", "volumes": [...
{ "mountPath": "/stable-diffusion-webui/extensions/sd-webui-controlnet/models/", "name": "model2" } ] } ], "restartPolicy": "Never", "volumes": [ { "hostPath": { "path": "/models/huggingFace-model/hanafuusen2001/BeautyProMix" }, "name": "model" }, { "hostPath": { "path...
"imagePullPolicy":"IfNotPresent","name":"stable-diffusion","resources": {"requests": {"nvidia.com/gpu":"1"}},"volumeMounts": [{"mountPath":"/stable-diffusion-webui/models/Stable-diffusion/","name":"model"}]}],"restartPolicy":"Never","volumes": [{"hostPath": {"path":"/models/...
Diffusion Policy将扩散模型的应用扩展到机器人学习,证明了其在处理多模态动作分布方面的有效性。后续工作通过将其应用于3D环境、进行扩展、提高效率以及引入架构创新,对Diffusion Policy进行了改进。例如,TinyVLA将扩散模型与轻量级视觉-语言模型相结合,而pi0则利用流匹配而非扩散来生成动作。我们的方法将推理——语言...