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Upstream Version

Synced to: real-stanford/diffusion_policy HEAD of main (2026-03-15)

Repository: https://github.com/real-stanford/diffusion_policy
Paper: Chi et al., "Diffusion Policy: Visuomotor Policy Learning via Action Diffusion" (RSS 2023)
Commit: HEAD of main branch as of 2026-03-15

Sync Protocol

When upstream updates:

cd repositories/diffusion-policy-upstream && git fetch && git pull
Review changes in diffusion_policy/model/ and diffusion_policy/policy/
Config-only changes: copy verbatim
New nn types: add to compat layer
Structural changes: mirror in MLX implementation
Update this file with new sync date