idp3-ov

Improved 3D Diffusion Policy (OpenVINO)

This document provides setup instructions for the Improved 3D 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/YanjieZe/Improved-3D-Diffusion-Policy.git
cd Improved-3D-Diffusion-Policy
git checkout f5b27faabbb8952672dd3d6a21d0ba762d5dfabb

2. Apply OpenVINO Optimization Patches

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

git am ../patches/0001-Replace-diffusion_pointcloud_policy.py-with-cleaned-.patch
git am ../patches/0002-Update-idp3_workspace.py-and-add-convert_idp3.py.patch
git am ../patches/0003-update-convert_idp3.py.patch
git am ../patches/0001-Fix-unsafe-PyTorch-load-issue.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.