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OpenRAL rSkill — Diffusion Policy (Chi et al., 2023) trained on the PushT 2-D pushing benchmark, packaged forOpenRAL.
lerobot/diffusion_pusht
with a rskill.yaml manifest. It does not copy model weights.| Field | Value |
|---|---|
| Source repo | lerobot/diffusion_pusht |
| Paper | arxiv:2303.04137 — Diffusion Policy: Visuomotor Policy Learning via Action Diffusion (Chi et al., 2023) |
| License | Apache-2.0 |
| Parameters | ~263 M (1-D U-Net) |
| Action chunk | 8 (within horizon 16) |
| Denoising | 100 DDPM steps per chunk |
| Benchmark | PushT (gym_pusht, pymunk 2-D rigid-body) |
ChunkedExecutor.| Robot | Embodiment tag | Status | Notes |
|---|---|---|---|
PushT 2-D pseudo-robot (gym_pusht/PushT-v0) | pusht, lerobot | ✓ sim | 2-D end-effector pushing a T block on a 512 × 512 px canvas |
| Key | Type | Resolution | Format |
|---|---|---|---|
observation.image | RGB camera | 96 × 96 | float32 |
observation.images.cameraN convention and
exposes the raw key observation.image.| Field | Value |
|---|---|
name | OpenRAL/rskill-diffusion-pusht-pusht-fp32 |
version | 0.1.0 |
license | apache-2.0 |
role | s1 |
embodiment_tags | pusht, lerobot |
runtime / quantization.dtype | pytorch / fp32 |
weights_uri | hf://lerobot/diffusion_pusht |
latency_budget.per_chunk_ms | 1 250 ms (warm full-chunk ≈ 1 756 ms on RTX 4070 Laptop, dominated by DDPM) |
latency_budget.warmup_ms | 10 000 ms |
latency_budget.load_ms | 30 000 ms |
commercial_use_allowed | true |
openral_core.RSkillManifest —
python/core/src/openral_core/schemas.py.1git clone https://github.com/OpenRAL/openral && cd OpenRAL
2just bootstrap && uv sync --all-packages --group sim
3
4# End-to-end via the canonical SimEnvironment config (CPU is enough):
5just sim-diffusion-pusht
6# which runs:
7# openral sim run --config scenes/benchmark/pusht.yaml --rskill rskills/diffusion-pusht --save-video
8
9# Sim test (gym_pusht + pymunk):
10uv run pytest tests/sim/test_pusht_2d_diffusion_pusht.py -v -m simrskill.yaml, README.md) is Apache-2.0 to
match the upstream weights. Commercial use is allowed
(commercial_use_allowed: true).robots/pusht_2d/README.md — RobotDescription manifest.scenes/benchmark/pusht.yaml — paired BenchmarkScene config (pass --rskill rskills/diffusion-pusht).docs/reference/vla_compatibility.md — VLA × Robot × Sim matrix.