THIS README ENABLES YOU TO RUN A WARPD CHECKPOINT ON YOUR LOCAL MACHINE FOR THE PUSHT TASK. WE SHALL RELEASE THE ENTIRE TRAINING CODE ON ACCEPTANCE.


1. Create the conda environment:

```
conda env create -f environment.yml
```

2. Activate the environment:
```
conda activate warpd
```


3. Download the diffusion checkpoint:

```
gdown "https://drive.google.com/uc?id=1x14wYWht5k-d3__v1GzKIjpdD7U19DJJ"
```

4. Download the VAE checkpoint:

```
gdown "https://drive.google.com/uc?id=14yh4IejXKyFfA8SZg27bDhLjaKc41Pvq"
```

5. Run the eval_pusht.ipynb notebook to evaluate the model on the PUSHT environment., or alternatively run the following command:

```
python eval_pusht.py --seed <SEED> --perturbation <DESIRED_MAGNITUDE_OF_RANDOM_PERTURBATION>
```
