Double-Diffusion-Policy

Official repository for paper "Double Diffusion Policy for Robust Robot Learning via Human Guidance". Please visit https://sites.google.com/view/smart-ddp-appendix for appendix materials. We will update the Readme file and upload the pretrained models soon.

Video of real-world experiments

Human action data collection

collection.mp4

Human action data modelling (human action diffusion policy)

fold_human.mp4

Robot task performance

1. Pack

   pack.mp4

2. Storage

   storage.mp4

3. Push

   push.mp4

4. Fold

   fold.mp4

5. Drawer

   drawer.mp4

6. Sensor

   sensor.mp4

Reference

• Diffusion policy