search

real-stanford / diffusion_policy

[RSS 2023] Diffusion Policy Visuomotor Policy Learning via Action Diffusion
https://diffusion-policy.cs.columbia.edu/
MIT License
1.54k stars 301 forks source link

Code for Franka Panda robot #13

Closed trannguyenle95 closed 1 year ago

trannguyenle95 commented 1 year ago

Hi,

In the paper, you mentioned that you executed the policy on two different robots: UR5 and Franka. Is it possible to release the code for Franka as well? Thanks!

cheng-chi commented 1 year ago

Hi @trannguyenle95, unfortunately, the Franka experiments used TRI's proprietary software infrastructure, therefore cannot be open-sourced. However, building a pipeline for Franka should be fairly straightforward if you simply replace our RTDEInterpolationController with Deoxys.