{
  "id": "diffusion-policy-eval-py",
  "name": "Diffusion Policy: Checkpoint simulation evaluation",
  "summary": "Pinned evaluation entrypoint that loads a selected policy checkpoint and runs the checkpoint-configured simulation environment runner. Statically reviewed source only; not run and no Hub preparation adapter.",
  "framework": "diffusion-policy",
  "kind": "official_example",
  "source_registry": "official-robot-workflows-v1",
  "capabilities": [
    "policy-evaluation",
    "robot-workflow"
  ],
  "robot_types": [
    "source-defined"
  ],
  "robot_scope": "Source-configured workflow. The selected dataset, checkpoint, simulator/controller and observation/action schema determine applicability; no specific robot names, compatibility combinations or Hub support are inferred.",
  "source": {
    "repository": "https://github.com/real-stanford/diffusion_policy",
    "commit": "5ba07ac6661db573af695b419a7947ecb704690f",
    "tag": "main",
    "path": "eval.py",
    "url": "https://github.com/real-stanford/diffusion_policy/blob/5ba07ac6661db573af695b419a7947ecb704690f/eval.py",
    "raw_url": "https://raw.githubusercontent.com/real-stanford/diffusion_policy/5ba07ac6661db573af695b419a7947ecb704690f/eval.py",
    "sha256": "e62694214cce4265ad783d1352713e25e963fb6684365ff1f0f4db08e57ade12",
    "bytes": 1996,
    "authors": [
      "Cheng Chi",
      "Siyuan Feng",
      "Yilun Du",
      "Zhenjia Xu",
      "Eric Cousineau",
      "Benjamin Burchfiel",
      "Shuran Song"
    ]
  },
  "license": {
    "spdx": "MIT",
    "url": "https://github.com/real-stanford/diffusion_policy/blob/5ba07ac6661db573af695b419a7947ecb704690f/LICENSE",
    "sha256": "304e99a48271e10820f71a1b86ef395c06c100d7f68dd1d308790d1064fc4d41",
    "scope": "Selected first-party Python workflow source only. Preserve upstream copyright and per-file notices. Model weights, datasets, third-party code, robot drivers/firmware and services retain separate terms; no rights for those assets are inferred.",
    "bytes": 1106
  },
  "access": {
    "mode": "source_reference",
    "hub_prepare": false,
    "instructions": "Fetch the pinned repository, verify this source checksum, and use upstream installation and invocation. This record does not install or execute code.",
    "setup_url": "https://github.com/real-stanford/diffusion_policy/blob/5ba07ac6661db573af695b419a7947ecb704690f/README.md",
    "setup_evidence": [
      {
        "path": "README.md",
        "url": "https://github.com/real-stanford/diffusion_policy/blob/5ba07ac6661db573af695b419a7947ecb704690f/README.md",
        "sha256": "51b6717d694a4ea4b476cf07c64651dc58643402beb0a27cda38a87cc58334b0",
        "bytes": 25219,
        "purpose": "Upstream authors, simulation/real-robot setup, W&B login, train/evaluation usage and code license"
      },
      {
        "path": "conda_environment.yaml",
        "url": "https://github.com/real-stanford/diffusion_policy/blob/5ba07ac6661db573af695b419a7947ecb704690f/conda_environment.yaml",
        "sha256": "c945bcac09284cf897d3e1837139ea83f991e4b2298dbd3a8c4a0718a34994ea",
        "bytes": 1626,
        "purpose": "Simulation environment Python and CUDA/PyTorch declarations"
      },
      {
        "path": "conda_environment_real.yaml",
        "url": "https://github.com/real-stanford/diffusion_policy/blob/5ba07ac6661db573af695b419a7947ecb704690f/conda_environment_real.yaml",
        "sha256": "6e2c5d828e5277edb99551f6e935ac36addad462b6a71ef5b0eefe60920a67a9",
        "bytes": 2017,
        "purpose": "Real-robot environment Python, CUDA and hardware dependency declarations"
      },
      {
        "path": "conda_environment_macos.yaml",
        "url": "https://github.com/real-stanford/diffusion_policy/blob/5ba07ac6661db573af695b419a7947ecb704690f/conda_environment_macos.yaml",
        "sha256": "80c41cb42c7702f6959a5fadc177db339b0877b1a17a807660722d9db4995f0e",
        "bytes": 1183,
        "purpose": "Separate development-only environment; not benchmark parity"
      }
    ]
  },
  "requirements": {
    "python": "Python 3.9 in upstream conda environment.",
    "packages": [
      "Pinned diffusion_policy checkout",
      "Workflow-specific conda environment with PyTorch1.12.1 and CUDA toolkit11.6",
      "Configured simulator or real-robot dependencies"
    ],
    "display": "Hardware: CLI device defaults to cuda:0. README benchmark setup is Linux/NVIDIA GPU; alternate device flag does not establish CPU compatibility. Weights: Required local checkpoint is loaded with torch.load and dill; it contains the workspace configuration. No checkpoint was downloaded, deserialized or trusted during review. Datasets: Environment/assets are selected by the checkpoint's env_runner configuration; no standalone training-data download is required by this selected evaluator. Services/auth: Imports W&B for video-object handling but contains no wandb.init/login call. No mandatory online API authentication is declared in this selected script.",
    "execution_domain": "simulation",
    "source_imports": [
      "click",
      "diffusion_policy.workspace.base_workspace",
      "dill",
      "hydra",
      "json",
      "os",
      "pathlib",
      "sys",
      "torch",
      "wandb"
    ],
    "notes": "Checkpoint metadata drives dynamic workspace/environment loading. This is a source-only pointer; local checkpoint loading was not performed. Code licensing does not establish model, checkpoint, dataset or service permission.",
    "declared_requirements": {
      "python": "Python 3.9 in upstream conda environment.",
      "weights": "Required local checkpoint is loaded with torch.load and dill; it contains the workspace configuration. No checkpoint was downloaded, deserialized or trusted during review.",
      "datasets": "Environment/assets are selected by the checkpoint's env_runner configuration; no standalone training-data download is required by this selected evaluator.",
      "hardware": "CLI device defaults to cuda:0. README benchmark setup is Linux/NVIDIA GPU; alternate device flag does not establish CPU compatibility.",
      "external_services_and_auth": "Imports W&B for video-object handling but contains no wandb.init/login call. No mandatory online API authentication is declared in this selected script.",
      "evidence": [
        {
          "anchor": "pickle_module=dill",
          "line": 31
        },
        {
          "anchor": "default='cuda:0'",
          "line": 24
        },
        {
          "anchor": "env_runner.run(policy)",
          "line": 51
        }
      ],
      "license_scopes": {
        "code": "MIT for selected first-party workflow source.",
        "weights": "README links separately downloadable trained checkpoints but the reviewed repository text does not separately establish their license. Do not extend first-party-code MIT to weights.",
        "datasets": "README links separate task demonstration datasets and dependencies such as robomimic. Individual dataset licenses were not reviewed; code MIT does not grant dataset rights.",
        "third_party_code": "External dependencies retain their own licenses."
      },
      "interpretation": "Pinned upstream declarations only; no dependency resolution, model/data access, compatibility inference or runtime validation was performed."
    }
  },
  "invocation": {
    "entrypoint": "python eval.py --checkpoint <approved-local-checkpoint> --output_dir <local-output> --device <reviewed-device>",
    "notes": "Checkpoint metadata drives dynamic workspace/environment loading. This is a source-only pointer; local checkpoint loading was not performed."
  },
  "popularity": {
    "metric": "github_stars",
    "repository_stars": 4651,
    "checked_at": "2026-10-17",
    "meaning": "Dated repository interest, not robot-skill usage, compatibility or runtime success."
  },
  "evidence": {
    "level": "source_reviewed",
    "runtime_verification": "not_run",
    "checked_at": "2026-10-17",
    "inspection": "Verified exact source, applicable license and author/setup document bytes at a full Git commit; parsed the Python AST and reviewed this guarded operational entrypoint and its explicit license notices. No upstream code, installation, robot command, dataset, mesh or checkpoint was executed or loaded.",
    "entrypoint_kind": "python_main",
    "inspection_method": "automated_static"
  },
  "artifact": {
    "kind": "workflow",
    "format": "python",
    "workflow_role": "policy-evaluation"
  }
}