I am currently exploring the diffusion_policy library and I am interested in understanding the distinctions and applications of global condition and local condition within this framework.
What constitutes a global condition versus a local condition in the context of trajectory prediction and decision-making tasks?
How are these conditions processed and utilized differently in the library's architecture?
Are there specific examples or use cases in the codebase where global condition and local condition are distinctly applied?
I am currently exploring the diffusion_policy library and I am interested in understanding the distinctions and applications of global condition and local condition within this framework.
What constitutes a global condition versus a local condition in the context of trajectory prediction and decision-making tasks? How are these conditions processed and utilized differently in the library's architecture? Are there specific examples or use cases in the codebase where global condition and local condition are distinctly applied?