DIPCOM: Learning Diffusion Policies from Demonstrations For Compliant Contact-rich Manipulation

Video: https://youtu.be/77tUVfyqHrw

Project page: https://omron-sinicx.github.io/DIPCOM/

Installation

1. [Optional] clone robosuite dependencies for simulation

git clone https://github.com/omron-sinicx/robosuite.git -b dipcom

2. use pixi for easy setup

• Install pixi

  curl -fsSL https://pixi.sh/install.sh | bash

• Setup pixi environment

  pixi install
  
  pixi shell

Then check the dipcom/README.md for more detailed instructions.

Docker

Alternatively you can use our docker setup:

1. Build the docker image

./BUILD-DOCKER-IMAGE.sh

2. Run container

./RUN-DOCKER-CONTAINER.sh

3. Follow the steps in the "Installation" section above.

Authors:

• Malek Aburub
• Cristian C. Beltran-Hernandez
• Tatsuya Kamijo
• Masashi Hamaya

Acknowledgements:

This project builds upon the open-source LeRobot - HuggingFace

If you find this project useful, consider citing it.

  @article{aburub2024learning,
      title={Learning Diffusion Policies from Demonstrations For Compliant Contact-rich Manipulation}, 
      author={Malek Aburub and Cristian C. Beltran-Hernandez and Tatsuya Kamijo and Masashi Hamaya},
      year={2024},
      eprint={2410.19235},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2410.19235}, 
}