lerobot

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Adil Zouitine 1ad2da403d feat(policies): add noise parameter to action prediction methods (#2063 )

* feat(policies): add noise parameter to action prediction methods

- Introduced `ActionSelectKwargs` TypedDict for better type hinting.
- Updated `predict_action_chunk` and `select_action` methods in `PreTrainedPolicy` and its subclasses to accept a `noise` parameter.
- Modified `generate_actions` and `conditional_sample` methods in `DiffusionModel` to utilize the new noise parameter for action generation.

* refactor(policies): make ActionSelectKwargs TypedDict fields optional

- Updated `ActionSelectKwargs` to inherit with `total=False`, allowing for optional fields.

2025-09-29 17:02:19 +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

feat(policies): add noise parameter to action prediction methods (#2063 )

2025-09-29 17:02:19 +02:00

processor_diffusion.py

chore: move constants to utils (#2016 )

2025-09-24 11:11:53 +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},
}