Diffusion Policy treats visuomotor control as a generative diffusion process, producing smooth, multi-step action trajectories that excel at contact-rich manipulation.

This policy has been trained and pushed to the Hub using LeRobot. See the full documentation at LeRobot Docs.

For a complete walkthrough, see the training guide. Below is the short version on how to train and run inference/eval:

Prefix the dataset repo with eval_ and supply --policy.path pointing to a local or hub checkpoint.