| torch>=2.0 | |
| torchvision | |
| diffusers>=0.18 | |
| einops | |
| numpy | |
| zarr | |
| pyyaml | |
| pillow | |
| hydra-core | |
| robomimic | |
| # diffusion-policy library is needed for DDPM/DDIM/EDM/Consistency policies. | |
| # Install from source: pip install git+https://github.com/real-stanford/diffusion_policy.git | |