Ethan-pooh/pact

PACT Data and Checkpoints This repository hosts the data and pretrained policy checkpoints for PACT: Self-Evolving Physical Safety Alignment for Diffusion Policies in Embodied Manipulation. PACT is a self-evolving post-training framework for aligning pretrained diffusion policies with physical safety constraints in embodied manipulation. It uses self-rollouts and automatically computed physical constraints to distill constraint gradients into diffusion policies, improving safety… See the full description on the dataset page: https://huggingface.co/datasets/Ethan-pooh/pact.