Create README

README.md

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+---
+'[object Object]': null
+license: mit
+language:
+- en
+---
+
+# Model Card for 3D Diffuser Actor
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+A robot manipulation policy that marries diffusion modeling with 3D scene representations.
+3D Diffuser Actor is trained and evaluated on [RLBench](https://github.com/stepjam/RLBench) or [CALVIN](https://github.com/mees/calvin) simulation.
+We release all code, checkpoints, and details involved in training these models.
+
+## Model Details
+
+The models released are the following:
+
+| Benchmark | Embedding dimension | Diffusion timestep |
+|------|------|------|
+| [RLBench (PerAct)]() | 120 | 100 |
+| [RLBench (GNFactor)]() | 120| 100 |
+| [CALVIN]() | 192 | 25 |
+
+### Model Description
+
+<!-- Provide a longer summary of what this model is. -->
+
+
+- **Developed by:** Katerina Group at CMU
+- **Model type:** a Diffusion model with 3D scene 
+- **License:** The code and model are released under MIT License
+- **Contact:** [email protected]
+
+
+### Model Sources [optional]
+
+<!-- Provide the basic links for the model. -->
+
+- **Project Page:** https://3d-diffuser-actor.github.io
+- **Repository:** https://github.com/nickgkan/3d_diffuser_actor.git
+- **Paper:** [Link]()
+
+## Uses
+
+<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
+
+TODO
+
+### Direct Use
+
+<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->
+
+TODO
+
+
+## Evaluation
+
+<!-- This section describes the evaluation protocols and provides the results. -->
+Our model trained and evaluated on RLBench simulation with the PerAct setup:
+
+| RLBench (PerAct) | 3D Diffuser Actor | [RVT](https://github.com/NVlabs/RVT) |
+| --------------------------------- | -------- | -------- |
+| average | 81.3 | 62.9 |
+| open drawer | 89.6 | 71.2 |
+| slide block | 97.6 | 81.6 |
+| sweep to dustpan | 84.0 | 72.0 |
+| meat off grill | 96.8 | 88 |
+| turn tap | 99.2 | 93.6 |
+| put in drawer | 96.0 | 88.0 |
+| close jar | 96.0 | 52.0 |
+| drag stick | 100.0 | 99.2 |
+| stack blocks | 68.3 | 28.8 |
+| screw bulbs | 82.4 | 48.0 |
+| put in safe | 97.6 | 91.2 |
+| place wine | 93.6 | 91.0 |
+| put in cupboard | 85.6 | 49.6 |
+| sort shape | 44.0 | 36.0 |
+| push buttons | 98.4 | 100.0 |
+| insert peg | 65.6 | 11.2 |
+| stack cups | 47.2 | 26.4 |
+| place cups | 24.0 | 4.0 |
+
+
+Our model trained and evaluated on RLBench simulation with the GNFactor setup:
+
+| RLBench (PerAct) | 3D Diffuser Actor | [GNFactor](https://github.com/YanjieZe/GNFactor) |
+| --------------------------------- | -------- | -------- |
+| average | 78.4 | 31.7 |
+| open drawer | 89.3 | 76.0 |
+| sweep to dustpan | 894.7 | 25.0 |
+| close jar | 82.7 | 25.3 |
+| meat off grill | 88.0 | 57.3 |
+| turn tap | 80.0 | 50.7 |
+| slide block | 92.0 | 20.0 |
+| put in drawer | 77.3 | 0.0 |
+| drag stick | 98.7 | 37.3 |
+| push buttons | 69.3 | 18.7 |
+| stack blocks | 12.0 | 4.0 |
+
+Our model trained and evaluated on CALVIN simulation (train with environment A, B, C and test on D):
+
+| RLBench (PerAct) | 3D Diffuser Actor | [GR-1](https://gr1-manipulation.github.io/) | [SuSIE](https://rail-berkeley.github.io/susie/) |
+| --------------------------------- | -------- | -------- | -------- |
+| task 1 | 92.2 | 85.4 | 87.0 |
+| task 2 | 78.7 | 71.2 | 69.0 |
+| task 3 | 63.9 | 59.6 | 49.0 |
+| task 4 | 51.2 | 49.7 | 38.0 |
+| task 5 | 41.2 | 40.1 | 26.0 |
+
+
+
+## Citation [optional]
+
+<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
+
+**BibTeX:**
+
+```
+@article{,
+ title={Action Diffusion with 3D Scene Representations},
+ author={Ke, Tsung-Wei and Gkanatsios, Nikolaos and Fragkiadaki, Katerina}
+ journal={Preprint},
+ year={2024}
+}
+```
+
+
+
+## Model Card Contact
+
+For errors in this model card, contact Nikos or Tsung-Wei, {ngkanats, tsungwek} at andrew dot cmu dot edu.