diffusers/pr_10312/en/api/pipelines/value_guided_sampling.html

<meta charset="utf-8" /><meta name="hf:doc:metadata" content="{&quot;title&quot;:&quot;Value-guided planning&quot;,&quot;local&quot;:&quot;value-guided-planning&quot;,&quot;sections&quot;:[{&quot;title&quot;:&quot;ValueGuidedRLPipeline&quot;,&quot;local&quot;:&quot;diffusers.experimental.ValueGuidedRLPipeline&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2}],&quot;depth&quot;:1}">
		<link href="/docs/diffusers/pr_10312/en/_app/immutable/assets/0.e3b0c442.css" rel="modulepreload">
		<link rel="modulepreload" href="/docs/diffusers/pr_10312/en/_app/immutable/entry/start.203b6290.js">
		<link rel="modulepreload" href="/docs/diffusers/pr_10312/en/_app/immutable/chunks/scheduler.8c3d61f6.js">
		<link rel="modulepreload" href="/docs/diffusers/pr_10312/en/_app/immutable/chunks/singletons.8b179f45.js">
		<link rel="modulepreload" href="/docs/diffusers/pr_10312/en/_app/immutable/chunks/index.0997d446.js">
		<link rel="modulepreload" href="/docs/diffusers/pr_10312/en/_app/immutable/chunks/paths.3fd58d56.js">
		<link rel="modulepreload" href="/docs/diffusers/pr_10312/en/_app/immutable/entry/app.423ea23f.js">
		<link rel="modulepreload" href="/docs/diffusers/pr_10312/en/_app/immutable/chunks/index.da70eac4.js">
		<link rel="modulepreload" href="/docs/diffusers/pr_10312/en/_app/immutable/nodes/0.e544eae6.js">
		<link rel="modulepreload" href="/docs/diffusers/pr_10312/en/_app/immutable/chunks/each.e59479a4.js">
		<link rel="modulepreload" href="/docs/diffusers/pr_10312/en/_app/immutable/nodes/144.39ddc0ee.js">
		<link rel="modulepreload" href="/docs/diffusers/pr_10312/en/_app/immutable/chunks/Tip.1d9b8c37.js">
		<link rel="modulepreload" href="/docs/diffusers/pr_10312/en/_app/immutable/chunks/Docstring.6b390b9a.js">
		<link rel="modulepreload" href="/docs/diffusers/pr_10312/en/_app/immutable/chunks/globals.7f7f1b26.js">
		<link rel="modulepreload" href="/docs/diffusers/pr_10312/en/_app/immutable/chunks/EditOnGithub.1e64e623.js"><!-- HEAD_svelte-u9bgzb_START --><meta name="hf:doc:metadata" content="{&quot;title&quot;:&quot;Value-guided planning&quot;,&quot;local&quot;:&quot;value-guided-planning&quot;,&quot;sections&quot;:[{&quot;title&quot;:&quot;ValueGuidedRLPipeline&quot;,&quot;local&quot;:&quot;diffusers.experimental.ValueGuidedRLPipeline&quot;,&quot;sections&quot;:[],&quot;depth&quot;:2}],&quot;depth&quot;:1}"><!-- HEAD_svelte-u9bgzb_END -->      <p></p>   <h1 class="relative group"><a id="value-guided-planning" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#value-guided-planning"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Value-guided planning</span></h1>  <div class="course-tip course-tip-orange bg-gradient-to-br dark:bg-gradient-to-r before:border-orange-500 dark:before:border-orange-800 from-orange-50 dark:from-gray-900 to-white dark:to-gray-950 border border-orange-50 text-orange-700 dark:text-gray-400"><p data-svelte-h="svelte-13bwjls">🧪 This is an experimental pipeline for reinforcement learning!</p></div> <p data-svelte-h="svelte-1dguds4">This pipeline is based on the <a href="https://huggingface.co/papers/2205.09991" rel="nofollow">Planning with Diffusion for Flexible Behavior Synthesis</a> paper by Michael Janner, Yilun Du, Joshua B. Tenenbaum, Sergey Levine.</p> <p data-svelte-h="svelte-1cwsb16">The abstract from the paper is:</p> <p data-svelte-h="svelte-k2slph"><em>Model-based reinforcement learning methods often use learning only for the purpose of estimating an approximate dynamics model, offloading the rest of the decision-making work to classical trajectory optimizers. While conceptually simple, this combination has a number of empirical shortcomings, suggesting that learned models may not be well-suited to standard trajectory optimization. In this paper, we consider what it would look like to fold as much of the trajectory optimization pipeline as possible into the modeling problem, such that sampling from the model and planning with it become nearly identical. The core of our technical approach lies in a diffusion probabilistic model that plans by iteratively denoising trajectories. We show how classifier-guided sampling and image inpainting can be reinterpreted as coherent planning strategies, explore the unusual and useful properties of diffusion-based planning methods, and demonstrate the effectiveness of our framework in control settings that emphasize long-horizon decision-making and test-time flexibility.</em></p> <p data-svelte-h="svelte-1fh8mls">You can find additional information about the model on the <a href="https://diffusion-planning.github.io/" rel="nofollow">project page</a>, the <a href="https://github.com/jannerm/diffuser" rel="nofollow">original codebase</a>, or try it out in a demo <a href="https://colab.research.google.com/drive/1rXm8CX4ZdN5qivjJ2lhwhkOmt_m0CvU0#scrollTo=6HXJvhyqcITc&uniqifier=1" rel="nofollow">notebook</a>.</p> <p data-svelte-h="svelte-guadao">The script to run the model is available <a href="https://github.com/huggingface/diffusers/tree/main/examples/reinforcement_learning" rel="nofollow">here</a>.</p>  <div class="course-tip  bg-gradient-to-br dark:bg-gradient-to-r before:border-green-500 dark:before:border-green-800 from-green-50 dark:from-gray-900 to-white dark:to-gray-950 border border-green-50 text-green-700 dark:text-gray-400"><p data-svelte-h="svelte-1wmc0l4">Make sure to check out the Schedulers <a href="../../using-diffusers/schedulers">guide</a> to learn how to explore the tradeoff between scheduler speed and quality, and see the <a href="../../using-diffusers/loading#reuse-components-across-pipelines">reuse components across pipelines</a> section to learn how to efficiently load the same components into multiple pipelines.</p></div>  <h2 class="relative group"><a id="diffusers.experimental.ValueGuidedRLPipeline" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#diffusers.experimental.ValueGuidedRLPipeline"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>ValueGuidedRLPipeline</span></h2> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="diffusers.experimental.ValueGuidedRLPipeline"><!-- HTML_TAG_START --><h3 class="!m-0"><span class="flex-1 break-all md:text-lg bg-gradient-to-r px-2.5 py-1.5 rounded-xl from-indigo-50/70 to-white dark:from-gray-900 dark:to-gray-950 dark:text-indigo-300 text-indigo-700"><svg class="mr-1.5 text-indigo-500 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" focusable="false" role="img" width=".8em" height=".8em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 24 24"><path class="uim-quaternary" d="M20.23 7.24L12 12L3.77 7.24a1.98 1.98 0 0 1 .7-.71L11 2.76c.62-.35 1.38-.35 2 0l6.53 3.77c.29.173.531.418.7.71z" opacity=".25" fill="currentColor"></path><path class="uim-tertiary" d="M12 12v9.5a2.09 2.09 0 0 1-.91-.21L4.5 17.48a2.003 2.003 0 0 1-1-1.73v-7.5a2.06 2.06 0 0 1 .27-1.01L12 12z" opacity=".5" fill="currentColor"></path><path class="uim-primary" d="M20.5 8.25v7.5a2.003 2.003 0 0 1-1 1.73l-6.62 3.82c-.275.13-.576.198-.88.2V12l8.23-4.76c.175.308.268.656.27 1.01z" fill="currentColor"></path></svg><span class="font-light">class</span> <span class="font-medium">diffusers.experimental.</span><span class="font-semibold">ValueGuidedRLPipeline</span></span></h3><!-- HTML_TAG_END --> <a id="diffusers.experimental.ValueGuidedRLPipeline" class="header-link invisible with-hover:group-hover:visible pr-2" href="#diffusers.experimental.ValueGuidedRLPipeline"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/diffusers/blob/vr_10312/src/diffusers/experimental/rl/value_guided_sampling.py#L25" target="_blank"><span data-svelte-h="svelte-1kd6by1">&lt;</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">&gt;</span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">value_function<span class="opacity-60">: UNet1DModel</span></span> </span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">unet<span class="opacity-60">: UNet1DModel</span></span> </span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">scheduler<span class="opacity-60">: DDPMScheduler</span></span> </span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">env<span class="opacity-60"></span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p>  <div class="!mb-10 relative docstring-details "> <p class="flex items-center font-semibold !mt-2 !mb-2 text-gray-800" data-svelte-h="svelte-lt6pb6">Parameters <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700 ml-3"></span></p> <ul class="px-2"><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="diffusers.experimental.ValueGuidedRLPipeline.value_function" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#diffusers.experimental.ValueGuidedRLPipeline.value_function"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>value_function</strong> (<a href="/docs/diffusers/pr_10312/en/api/models/unet#diffusers.UNet1DModel">UNet1DModel</a>) &#x2014;
A specialized UNet for fine-tuning trajectories base on reward.<!-- HTML_TAG_END --> </span></span> </li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="diffusers.experimental.ValueGuidedRLPipeline.unet" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#diffusers.experimental.ValueGuidedRLPipeline.unet"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>unet</strong> (<a href="/docs/diffusers/pr_10312/en/api/models/unet#diffusers.UNet1DModel">UNet1DModel</a>) &#x2014;
UNet architecture to denoise the encoded trajectories.<!-- HTML_TAG_END --> </span></span> </li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="diffusers.experimental.ValueGuidedRLPipeline.scheduler" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#diffusers.experimental.ValueGuidedRLPipeline.scheduler"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>scheduler</strong> (<a href="/docs/diffusers/pr_10312/en/api/schedulers/overview#diffusers.SchedulerMixin">SchedulerMixin</a>) &#x2014;
A scheduler to be used in combination with <code>unet</code> to denoise the encoded trajectories. Default for this
application is <a href="/docs/diffusers/pr_10312/en/api/schedulers/ddpm#diffusers.DDPMScheduler">DDPMScheduler</a>.<!-- HTML_TAG_END --> </span></span> </li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="diffusers.experimental.ValueGuidedRLPipeline.env" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#diffusers.experimental.ValueGuidedRLPipeline.env"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>env</strong> () &#x2014;
An environment following the OpenAI gym API to act in. For now only Hopper has pretrained models.<!-- HTML_TAG_END --> </span></span> </li></ul>   </div></div> <p data-svelte-h="svelte-apl1xd">Pipeline for value-guided sampling from a diffusion model trained to predict sequences of states.</p> <p data-svelte-h="svelte-1qc9xyr">This model inherits from <a href="/docs/diffusers/pr_10312/en/api/pipelines/overview#diffusers.DiffusionPipeline">DiffusionPipeline</a>. Check the superclass documentation for the generic methods
implemented for all pipelines (downloading, saving, running on a particular device, etc.).</p></div> <a class="!text-gray-400 !no-underline text-sm flex items-center not-prose mt-4" href="https://github.com/huggingface/diffusers/blob/main/docs/source/en/api/pipelines/value_guided_sampling.md" target="_blank"><span data-svelte-h="svelte-1kd6by1">&lt;</span> <span data-svelte-h="svelte-x0xyl0">&gt;</span> <span data-svelte-h="svelte-1dajgef"><span class="underline ml-1.5">Update</span> on GitHub</span></a>  <p></p> 
			
			<script>
				{
					__sveltekit_zvhs44 = {
						assets: "/docs/diffusers/pr_10312/en",
						base: "/docs/diffusers/pr_10312/en",
						env: {}
					};

					const element = document.currentScript.parentElement;

					const data = [null,null];

					Promise.all([
						import("/docs/diffusers/pr_10312/en/_app/immutable/entry/start.203b6290.js"),
						import("/docs/diffusers/pr_10312/en/_app/immutable/entry/app.423ea23f.js")
					]).then(([kit, app]) => {
						kit.start(app, element, {
							node_ids: [0, 144],
							data,
							form: null,
							error: null
						});
					});
				}
			</script>