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shaoanlu · Apr 26, 2024 · bd19fe2 · bd19fe2
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 This repository provides a demonstration of imitation learning using a diffusion policy. The implementation is adapted from the official Diffusion Policy [repository](https://github.com/real-stanford/diffusion_policy).
 
 ## Result
-The animation shows the denoising process of the diffusion policy predicting future trajectory and applying actions.
+The control task is to drive the quadrotor from the initial position (0, 0) to the goal position (5, 5) without collision with the obstacles. The animation shows the denoising process of the diffusion policy predicting future trajectory followed by the quadrotor applying the actions. 
 
 <img src="assets/result_anim.gif" alt="drawing" width="380"/> <img src="assets/result_plot.png" alt="drawing" width="370"/>
 

diff --git a/assets/result_anim.gif b/assets/result_anim.gif
diff --git a/assets/result_plot.png b/assets/result_plot.png