Issues

• [Bug] With gradient_accumulate_every > 1, the first optimizer step uses one microbatch and EMA updates on every microbatch

  real-stanford/diffusion_policy#170 · Filter by author gss10282025 opened on Sep 26, 2026

• ImportError("cannot import name 'cached_download' from 'huggingface_hub'

  real-stanford/diffusion_policy#167 · Filter by author sunrise0307 opened on Aug 20, 2026
  1

• Data-quality audit on PushT dataset — sharing results

  real-stanford/diffusion_policy#166 · Filter by author liesliy opened on Aug 19, 2026

• Verify evals on Papers with Code

  real-stanford/diffusion_policy#165 · Filter by author NielsRogge opened on Jul 17, 2026

• diffusion_policy/dataset/mujoco_image_dataset.py may have error

  real-stanford/diffusion_policy#162 · Filter by author tainnanlshuf-cpu opened on Mar 25, 2026
  1

• Fix for RuntimeError: MUJOCO_PATH environment variable is not set

  real-stanford/diffusion_policy#161 · Filter by author chuankepang opened on Jan 6, 2026
  3

• How to apply this verison model on LeRobotDataset format data?

  real-stanford/diffusion_policy#160 · Filter by author lanseyege opened on Dec 22, 2025

• Is the inertia calculation for inertia2 incorrect？

  real-stanford/diffusion_policy#159 · Filter by author skyswordw opened on Dec 17, 2025

• weight has been created,but interrupt KeyError: 'test_mean_score',

  real-stanford/diffusion_policy#158 · Filter by author xingye666 opened on Dec 11, 2025

• Diffusion Policy seems to ignore force–torque (FT) inputs — how do I make force matter?

  real-stanford/diffusion_policy#156 · Filter by author manadhruvil opened on Nov 12, 2025
  3

• cannot import name 'DEFAULT_CIPHERS' from 'urllib3.util.ssl_

  real-stanford/diffusion_policy#155 · Filter by author bitqjy opened on Nov 11, 2025

• shapely.errors.TopologicalError

  real-stanford/diffusion_policy#152 · Filter by author DongYifei0929 opened on Oct 12, 2025

• bug: Batchnorms not replaced by Groupnorm when using share_rgb_model

  real-stanford/diffusion_policy#151 · Filter by author tlpss opened on Oct 9, 2025

• The motion of UR is not smooth when pushT with eval_real_robot.py

  real-stanford/diffusion_policy#148 · Filter by author humphreyde opened on May 29, 2025
  2

• Why were the self-attention layers removed from Janner's UNet?

  real-stanford/diffusion_policy#147 · Filter by author RexGLiu opened on May 13, 2025

• cannot import name 'cached_download' from 'huggingface_hub'

  real-stanford/diffusion_policy#145 · Filter by author Cup-Laboratory opened on Apr 15, 2025
  6

• EOFError in env.step

  real-stanford/diffusion_policy#144 · Filter by author abcdsaltfish opened on Apr 1, 2025

• Questions about the different implementation of obs_encoder

  real-stanford/diffusion_policy#142 · Filter by author MsterDC opened on Mar 12, 2025

• Action rendering not scaled for non-default render size

  real-stanford/diffusion_policy#140 · Filter by author julienma96 opened on Feb 15, 2025

• How to implement pick&place through a real robot

  real-stanford/diffusion_policy#139 · Filter by author yechan519 opened on Feb 10, 2025
  1

• About pose_trajectory_interpolation & Rotation representation

  real-stanford/diffusion_policy#138 · Filter by author YanJiaHuan opened on Jan 27, 2025

• Is it necessary to get another abs dataset or can I use my image. hdf5 as well?

  real-stanford/diffusion_policy#137 · Filter by author carloskiyoto opened on Jan 24, 2025
  1

• Improve the definition of the saved simulation result video

  real-stanford/diffusion_policy#135 · Filter by author yihang-xdu opened on Jan 18, 2025

• Error with env.reset() in robomimic enviroment (in google colab vision-based)

  real-stanford/diffusion_policy#134 · Filter by author carloskiyoto opened on Jan 15, 2025
  4

• What is the difference between the diffusion_unet_hybrid_image_policy and diffusion_unet_image_policy ?

  real-stanford/diffusion_policy#133 · Filter by author KIM-HYEDO opened on Jan 2, 2025
  2