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lucidrains / diffusion-policy

Implementation of Diffusion Policy, Toyota Research's supposed breakthrough in leveraging DDPMs for learning policies for real-world Robotics
MIT License
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Where is the diffusion model defined? #3

Open Abraham190137 opened 4 weeks ago

Abraham190137 commented 4 weeks ago

Hello, Thanks for the great implimination! It's a lot easier to follow than the paper's GitHub. I was looking through the code, and I can't find where the model used in the Diffusion Policy Class is defined, ie. the class which is called in the line: model_output, self_latents = self.model(noised_img, times, return_latents = True) Where would I find the model definition? Thanks!

lucidrains commented 4 weeks ago

@Abraham190137 this isn't done yet, but will be in the coming year

Abraham190137 commented 4 weeks ago

Looking forward to it! Thanks for the response.