Hi, thank you for the great work on Generative Modeling via Drifting!
I implemented the drifting model on simulated robot control tasks (PushT, Lift, Can, ToolHang)
by porting the drifting loss into the Diffusion Policy framework: https://github.com/phamtrongthang123/drifting_policy
The loss port passes numerical tests against your JAX implementation. Key config: gen_per_label=8, batch_size=64, dot-product cdist (matching your kernel).
However, some of my results substantially exceed the scores reported in your Table 7, which makes me think there may be a mismatch in my setup that I haven't caught. The most surprising case is ToolHang (low-dim): 0.84 vs paper's 0.38.
Full comparison:
| Task |
Setting |
Paper (Drifting) |
My result |
| Can |
Visual |
0.99 |
0.98 |
| PushT |
Visual |
0.86 |
0.86 |
| Lift |
Visual |
1.00 |
1.00 |
| PushT |
State |
0.86 |
0.871 |
| Can |
State |
0.98 |
0.98 |
| Lift |
State |
1.00 |
1.00 |
| ToolHang |
State |
0.38 |
0.84 ← large gap |
My question: Do you have plans to release an official robot control implementation?
I would not ask you to debug my code because that would be too much. But a release of official code would be very helpful.
Hi, thank you for the great work on Generative Modeling via Drifting!
I implemented the drifting model on simulated robot control tasks (PushT, Lift, Can, ToolHang)
by porting the drifting loss into the Diffusion Policy framework: https://github.com/phamtrongthang123/drifting_policy
The loss port passes numerical tests against your JAX implementation. Key config:
gen_per_label=8,batch_size=64, dot-product cdist (matching your kernel).However, some of my results substantially exceed the scores reported in your Table 7, which makes me think there may be a mismatch in my setup that I haven't caught. The most surprising case is ToolHang (low-dim): 0.84 vs paper's 0.38.
Full comparison:
My question: Do you have plans to release an official robot control implementation?
I would not ask you to debug my code because that would be too much. But a release of official code would be very helpful.