original.ckpt — original checkpointedited.pt — edited checkpointstats_sfp.npz — normalization stats (obs / action min/max)inference.py — inference script1pip install torch diffusers pygame pymunk shapely scikit-image imageio gym numpy
2git clone https://github.com/columbia-ai-robotics/streaming_flow_policy.git
3
4python inference.py --ckpt original.ckpt --stats stats_sfp.npz \
5 --sfp-repo streaming_flow_policy/ --n-seeds 50
6
7python inference.py --ckpt edited.pt --stats stats_sfp.npz \
8 --sfp-repo streaming_flow_policy/ --n-seeds 50 --save-mp4 rollout.mp4--save-mp4 renders the first successful rollout.