Training

Overview

Training is mainly done via the train.py script from real-stanford/diffusion_policy. Minor modifications are made to the training configuration to match the experimental settings described in the paper, and can be found in the corresponding shell scripts.

python scripts/train_lowdim_transformer_v1.sh
python scripts/train_lowdim_transformer_v2.sh
python scripts/train_img_cnn_v1.sh
python scripts/train_img_cnn_v2.sh
python scripts/train_lowdim_cnn_v1.sh
python scripts/train_lowdim_cnn_v2.sh

Hardware

• RTX A6000