Does Diffusion Policy run on AgileX PiPER?
works with caveats
Capabilities
| Capability | State | Notes | Evidence |
|---|---|---|---|
| Train / fine-tune | works | ev-hub-aachen-diffusion, ev-pcd-lerobot-piper-diffusion | |
| Real-robot inference | works with caveats | 15% baseline success on one task; trial count not stated. | ev-pcd-lerobot-piper-diffusion |
| Simulation inference | no verified evidence | — | |
| Teleop + record | works | Leader-follower recording with --robot.type=piper_follower and --teleop.type=piper_leader in the PCD-LeRobot codebase. | ev-pcd-lerobot-piper-diffusion |
Caveats
- Community-reported only; not documented upstream or maintainer-tested.
- The only physical run uses PCD-LeRobot, a research codebase with its own vendored LeRobot copy (pyproject version 0.3.4) and its own piper robot type; LeRobot has no built-in Piper robot type.
- The unmodified Diffusion Policy baseline succeeded 15% of the time on one bowl-on-plate task (50 demonstrations, one ROS RGB camera, 10 Hz inference); the trial count is not stated.
Evidence 2 sources; the cell shows the highest tier
- T3 · community reportedsource-codesource 2025-11-25verified 2026-10-25 (today)lerobot 0.3.4 (vendored copy in PCD-LeRobot)
README of the Policy Contrastive Decoding (PCD) authors' LeRobot-based code gives AgileX PiPER recording, Diffusion Policy training and 10 Hz on-robot inference commands; its real-robot results table reports 15% success for the plain Diffusion Policy (45% with PCD), without a trial count.
“We designed a "place bowl on plate" task using an AGILEX PIPER robotic arm, collected 50 demonstration trajectories and trained a Diffusion Policy from scratch.”
https://github.com/pcd-robot/PCD-LeRobot/blob/519b4a814e85bf9b786677d90b0ff07218729bb2/README.md - T3 · community reportedhub-checkpointsource 2026-10-20verified 2026-10-24 (1d ago)
config.json type=diffusion; trained on Samisaliveagain/piper-hexagonal-bolt-insertion-100-demos-v1 whose meta/info.json robot_type=piper_follower. Card states it has not yet been evaluated on the robot.
https://huggingface.co/RoboticsCollectiveAachen/diffusion_piper_hex_bolt_insertion
Embed this cell
Badge for READMEs and model cards. It always shows the current state.
[](https://caniembody.pages.dev/compat/agilex-piper/diffusion)<iframe src="https://caniembody.pages.dev/embed/agilex-piper/diffusion" width="380" height="132" style="border:0" title="Diffusion Policy on AgileX PiPER | CanIEmbody"></iframe>