Neel Sortur nsortur

## diffusion.py
"""
Diffusion Policy Components for DPPO Fine-tuning

Contains:
- TimeEmbedding: Sinusoidal positional encoding for diffusion timesteps
- DiffusionMLP: Simple MLP-based noise prediction network
- ToyDDIMScheduler: DDIM scheduler for deterministic sampling
"""

import torch

## keybase.md

      
        
          
            
              
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                nsortur
                / keybase.md
            
            
              Created
              February 13, 2022 21:03
            
          
        
      
        

      
      
    Keybase proof

I hereby claim:

I am nsortur on github.
I am nsor (https://keybase.io/nsor) on keybase.
I have a public key whose fingerprint is 4C2E 2890 F0E1 00FD EF23  42D0 9B79 FF60 9F32 6D31

To claim this, I am signing this object:
	"""
	Diffusion Policy Components for DPPO Fine-tuning

	Contains:
	- TimeEmbedding: Sinusoidal positional encoding for diffusion timesteps
	- DiffusionMLP: Simple MLP-based noise prediction network
	- ToyDDIMScheduler: DDIM scheduler for deterministic sampling
	"""

	import torch