Diffusion Policy

[arhanjain]

Wondering if there's a reason diffusion policy hasn't been merged into master?

There's also a few different branches related to diffusion so it's a bit confusing which one is stable & up to date.

[amandlek]

Great question. The other branches offer a preliminary diffusion policy implementation but we would like to clean it up and also run some tests to make sure the implementation is on par with the "official" diffusion policy codebase.