Visuo-motor policy learning via action diffusion. Trace a complete forward pass from camera image to robot joint commands — then build every component from scratch in Colab.
Open Lecture SlidesEnd-to-end diffusion policy training on three environments — from simple 2D to real-world bimanual manipulation.
Train a diffusion policy from scratch on PushT — noise scheduling, denoising, and action prediction.
Open in ColabScale diffusion policy to real-world ALOHA bimanual manipulation with camera observations and delta actions.
Open in ColabTrain a diffusion policy on a single LIBERO manipulation task with image observations.
Open in ColabMulti-task learning with LIBERO benchmark — one diffusion policy across diverse manipulation tasks.
Open in ColabBuild each component of the diffusion policy architecture from scratch — one focused notebook per module.
Explore the diffusion policy architecture through animated 3D and scroll-driven 2D walkthroughs.
SO-101 arm performing teapot pour with DDIM denoising steps, noise visualization, and action chunks.
Launch 3D Scroll-Driven · 2DStep-by-step training walkthrough with real dataset frames, noise schedules, and loss curves.
Open Scroll-Driven · 2DInteractive scroll-based visualizer showing the complete diffusion policy inference pipeline.
Open