This branch contains the model weights obtained from training on the original Diffusion Policy repository.

This is the command that was used for training:

```bash
python train.py --config-dir=. --config-name=image_pusht_diffusion_policy_cnn.yaml training.seed=42 logging.name=benchmark
```

The configuration file `image_pusht_diffusion_policy_cnn.yaml` is included in this branch.

The weights were converted with [`convert_weights.py`](convert_weights.py).