See the Diffusion Policy for installation.

• Launch FrankaInterface Server on NUC

  Follow the documentation to install Polymetis on a computer with realtime kernel (i.e., NUC in our example).

  bash ./launch_franka.sh

  python ./launch_server.py

• Data Collection

  python record.py

• Preprocessing

  We do not provide code for the inpainting step. You may use any inpainting model to complete this stage—for example, Grounded-SAM for mask generation followed by ProPainter for inpainting.

  After preprocessing, the data directory should be organized as follows:

  data/
  ├── replay_buffer.zarr        # Trajectory data
  └── videos/
      ├── 0/
      │   ├── 0.mp4             # Front-facing camera view
      │   ├── 1.mp4             # Wrist-mounted camera view
      │   └── 2.mp4             # Inpainted camera view
      ├── 1/
      │   ├── 0.mp4
      │   ├── 1.mp4
      │   └── 2.mp4
      └── ...
  

• Policy Training

  bash train.sh

• Inference

  bash eval.sh