diffusion-policy-ov

Diffusion Policy (OpenVINO)

This document provides setup instructions for the Diffusion Policy implementation optimized with Intel OpenVINO toolkit.

Prerequisites

• Git installed on your system
• Robotics AI Suite environment set up
• Intel OpenVINO toolkit installed

Setup Instructions

1. Clone the Source Code

git clone https://github.com/real-stanford/diffusion_policy.git
cd diffusion_policy
git checkout 5ba07ac6661db573af695b419a7947ecb704690f

2. Apply OpenVINO Optimization Patches

Apply the following patches in order to enable OpenVINO-specific optimizations:

git am ../patches/0001-Enable-pipeline-with-OV-2024.6.patch
git am ../patches/0002-Add-test-script.patch
git am ../patches/0003-Add-core-affinity.patch
git am ../patches/0004-Fix-OV-inference-performance.patch
git am ../patches/0005-Add-OpenVINO-conversion-scripts.patch
git am ../patches/0001-Fix-unsafe-PyTorch-load-issue.patch
git am ../patches/0001-Modify-README.md-for-OpenVINO-model-conversion.patch

Next Steps

After completing the source code setup, please refer to the Robotics AI Suite documentation to build and run the sample pipeline.

Support

For issues related to the OpenVINO optimizations, please consult the Robotics AI Suite documentation or contact the development team.