Refactor train, eval_policy, logger, Add diffusion.yaml (WIP)

lerobot/common/policies/factory.py

@@ -4,9 +4,29 @@ def make_policy(cfg):
 
         policy = TDMPC(cfg.policy)
     elif cfg.policy.name == "diffusion":
+        from diffusers.schedulers.scheduling_ddpm import DDPMScheduler
+        from diffusion_policy.model.vision.model_getter import get_resnet
+        from diffusion_policy.model.vision.multi_image_obs_encoder import (
+            MultiImageObsEncoder,
+        )
+
         from lerobot.common.policies.diffusion import DiffusionPolicy
 
-        policy = DiffusionPolicy(cfg.policy)
+        noise_scheduler = DDPMScheduler(**cfg.noise_scheduler)
+
+        rgb_model = get_resnet(**cfg.rgb_model)
+
+        obs_encoder = MultiImageObsEncoder(
+            rgb_model=rgb_model,
+            **cfg.obs_encoder,
+        )
+
+        policy = DiffusionPolicy(
+            noise_scheduler=noise_scheduler,
+            obs_encoder=obs_encoder,
+            n_action_steps=cfg.n_action_steps + cfg.n_latency_steps,
+            **cfg.policy,
+        )
     else:
         raise ValueError(cfg.policy.name)