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What is the difference between the diffusion_unet_hybrid_image_policy and diffusion_unet_image_policy ? #133

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KIM-HYEDO opened this issue Jan 2, 2025 · 1 comment
Open

What is the difference between the diffusion_unet_hybrid_image_policy and diffusion_unet_image_policy ? #133

KIM-HYEDO opened this issue Jan 2, 2025 · 1 comment

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@KIM-HYEDO
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What is the difference between the diffusion_unet_hybrid_image_policy and diffusion_unet_image_policy ?
@KIM-HYEDO KIM-HYEDO closed this as not planned Won't fix, can't repro, duplicate, stale Jan 6, 2025
@KIM-HYEDO KIM-HYEDO reopened this Jan 6, 2025
@YanJiaHuan
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diffusion_unet_image_policy use only image input while diffusion_unet_hybrid_image_policy uses both camera and the robot's low_dim data like joints or endpose.
By the way, they are both used in sim env, if one policy is ready to go in real world, they will add prefix 'real'

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@YanJiaHuan @KIM-HYEDO