### Environment Setup

- Tested on Ubuntu 22.04
- Create the environment:

```bash
conda env create -f conda_environment.yaml
```

### Training

Run the training script:

```bash
sh bash/train_Di-BM.sh
```

### Acknowledgement

This work is developed based on and benefited from the open-source UMI project (Universal Manipulation Interface):

- Repository: [`real-stanford/universal_manipulation_interface`](https://github.com/real-stanford/universal_manipulation_interface)