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Diffusion Policy Visualized
DP
Diffusion Policy
Action Denoising Visualizer
DDIM Step
-
/ 10
Policy Parameters
Prediction Horizon T
p
16
Execution Horizon T
a
16
DDIM Steps K
10
Action Space
xyz (EE pos)
Noise Level
Clean
100%
Noisy
Action Chunk (16 steps)
Legend
Noisy Actions (A
K
)
Denoising...
Clean Actions (A
0
)
Trajectory Curve
SO-101 Arm
Ready
Press Play to see how Diffusion Policy denoises Gaussian noise into a pick-and-pour trajectory, then watch the SO-101 arm execute it chunk by chunk.
Reset
Play
Step
Speed
1x
Pred Span
25%
Cycle
0