from lerobot.policies.diffusion.modeling_diffusion import DiffusionPolicy

policy = DiffusionPolicy.from_pretrained("Stevenshuqing/LW-Bench-Diffusion")
policy.eval()

Use LeRobot 0.4.3 and the included preprocessor/postprocessor files. The repository contains the complete pretrained_model directory produced by LeRobot.

Provenance

Code and protocol: https://github.com/stevenqing/LW-Compositional-Bench
Full report: https://github.com/stevenqing/LW-Compositional-Bench/blob/main/artifacts/model-eval/x7s/rotation-v0/budget-5k/report.md
Code revision: 2d0e26dd2fe2e91046f416bd65bc369f8568d7f0
model.safetensors SHA256: e1540ffe39b85bd762b4ab90c52a64d16e031b048957a0d02cd664663395849b

Limitations

This checkpoint is specific to the X7s observation/action schema. The benchmark is offline because the available A100 GPUs cannot provide Isaac Sim RT camera rendering. Transition boundaries are action-space proxies based on gripper sign changes and robust continuous-action peaks, not human semantic annotations.