robot policy
Diffusion Policy
Visuomotor robot policy that generates actions by diffusion; LeRobot publishes a PushT checkpoint.
Levelmodel
Classrobot policy
Parameters262.71M
Contextnot in the notes
Released7 Mar 2023
Opennessopen weights permissive
Runs onnot in the notes
Statusactive
Identity
- Developer
- Columbia University
- Family
- not in the notes
- Released
- 7 Mar 2023 sourcesannouncement page
- Weights published
- 5 May 2024
- Record checked
- 12 Oct 2026
Where this comes from
Developer and dates from the research notes. Release date is the vendor's public announcement; weights date is when open weights were published.
Architecture and Size
- Architecture
- diffusion
- Total parameters
- 262.71M sources
- Active parameters
- –
- Checkpoint parameters
- –
- Context length
- not in the notes
- Input
- image, text
- Output
- action
Where this comes from
Parameter counts as the developer states them. Where the checkpoint holds a different total, both are shown (register A16).
Openness and Access
- Openness
- open weights permissive
- Licence
- Apache License 2.0 sources
- Access routes
- open weights download
Where this comes from
The licence file governs over registry tags and aggregator labels.
Deployment
- Runs on
- not in the notes
- Footprint
- not in the notes
- Runtimes
- not in the notes
Where this comes from
Deployment tiers and runtimes as named in the notes. Footprint is the notes' figure, not a measurement by AURION.
Indonesia
- Indonesian support
- not stated
- Regional languages
- not in the notes
- Jakarta hosting
- unknown
- Languages
- not in the notes
Where this comes from
Indonesia fields are carried on every model; unknown is an allowed value.
Benchmark Results
The notes record no benchmark result for this model.
Lineage
The notes record no lineage for this model.
Industry Use Cases
No industry use case links this model.
Links
DeveloperColumbia Universityuniversity
Columbia UniversityuniversityModelDiffusion PolicyColumbia University, robot policy
Diffusion PolicyColumbia University, robot policyR&D TopicsImitation Learning from Demonstrations
Use Casesnone recorded
Who Runs Itnone recorded
Organisations 1
Sources
- arxiv.org/abs/2303.04137 https://arxiv.org/abs/2303.04137
- huggingface.co/lerobot/diffusion_pusht https://huggingface.co/lerobot/diffusion_pusht
- huggingface.co/api/models?pipeline_tag=robotics&sort=downloa... https://huggingface.co/api/models?pipeline_tag=robotics&sort=downloads&limit=50
- modelscope.cn/models/lerobot/diffusion_pusht https://www.modelscope.cn/models/lerobot/diffusion_pusht
- arxiv.org/html/2303.04137 https://arxiv.org/html/2303.04137
To cite this page: Project AURION, AI Use-Cases Research & Innovation, "Diffusion Policy", https://aurion.semai.id/models/diffusion-policy/, records of October 2026.