feat(dfot): diffusion-forcing algo, evaluators, configs and tests - #587
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Split out of the batchflow stack so it can be reviewed -- or dropped -- on its own. Nothing below this PR depends on it. It cannot branch off main: it imports models/diffusion (which stays below, since the batchflow pipeline needs SinusoidalPosEmb), plus rldb/embodiment, models/stems and eval/core. Hence a PR on top rather than beside. Contents: egomimic/algo/diffusion/ (algo + nine outer stages), egomimic/eval/dfot/, egomimic/eval/tf/, the evaluator/dfot + evaluator/tf + model/dfot config groups, and the DFoT regression tests. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
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This was referenced Aug 26, 2026
ElmoPA
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elmo/sim-v2-parallel-gripper-physics
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August 26, 2026 19:20
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Split out of the batchflow stack so it can be reviewed -- or dropped -- on its
own. Nothing below this PR depends on it.
It cannot branch off main: it imports models/diffusion (which stays below, since
the batchflow pipeline needs SinusoidalPosEmb), plus rldb/embodiment,
models/stems and eval/core. Hence a PR on top rather than beside.
Contents: egomimic/algo/diffusion/ (algo + nine outer stages), egomimic/eval/dfot/,
egomimic/eval/tf/, the evaluator/dfot + evaluator/tf + model/dfot config groups,
and the DFoT regression tests.
Co-Authored-By: Claude Opus 5 (1M context) noreply@anthropic.com