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Diffusion Policy
A visuomotor policy approach using diffusion to generate robot actions.
Robot policies
Models / Research
CausalActionTokenizer · ChenyuZhangX
CATok studies causal action tokenization for robot policies with conditional annealing in flow matching.
Overview
CATok studies causal action tokenization for robot policies with conditional annealing in flow matching.
Publisher summary: “Official implementation of CATok: Rethinking Causal Action Tokenization with Conditional Annealing in Flow Matching (arXiv:2609.35469)”
Use its repository to inspect the implementation, documentation and supported workflows. This directory record identifies the maintainer, code license and related resources; it does not claim that the project has been installed or tested on your robot.
Project information
- Maintainer
- ChenyuZhangX
- Primary language
- Python
- Repository code license
- Apache-2.0
- Model-weight license
- Not recorded
- Dataset license
- Not recorded
- Hardware design license
- Not recorded
- Maintenance
- Not archived in the last recorded metadata
- Last observed repository push
- 2026-09-29
Code licenses do not automatically cover model weights, datasets or hardware designs. Unrecorded license details require confirmation with the publisher.
Documentation sections
- Overview
- Installation
- Repository Structure
- Training and Evaluation
- Pretraining (LIBERO + Bridge):
- examples:
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