metadata

library_name: custom
tags:
  - robotics
  - diffusion
  - mixture-of-experts
  - multi-modal
license: mit
datasets:
  - CALVIN
languages:
  - en
pipeline_tag: robotics

MoDE (Mixture of Denoising Experts) Diffusion Policy

Model Description

This model implements a Mixture of Diffusion Experts architecture for robotic manipulation, combining transformer-based backbone with noise-only expert routing. For faster inference, we can precache the chosen expert for each timestep to reduce computation time.

The model has been pretrained on a subset of OXE for 300k steps and finetuned for downstream tasks on the CALVIN/LIBERO dataset.

Model Details

Architecture

Base Architecture: MoDE with custom Mixture of Experts Transformer
Vision Encoder: ResNet-50 with FiLM conditioning finetuned from ImageNet
EMA: Enabled
Action Window Size: 10
Sampling Steps: 5 (optimal for performance)
Sampler Type: DDIM

Input/Output Specifications

Inputs

RGB Static Camera: (B, T, 3, H, W) tensor
RGB Gripper Camera: (B, T, 3, H, W) tensor
Language Instructions: Text strings

Outputs

Action Space: (B, T, 7) tensor representing delta EEF actions

Usage

obs = {
    "rgb_obs": {
        "rgb_static": static_image,
        "rgb_gripper": gripper_image
    }
}
goal = {"lang_text": "pick up the blue cube"}
action = model.step(obs, goal)

mbreuss
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MoDE_CALVIN_ABC_2