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index a6344aac8c09253b3b630fb776ae94478aa0275b..d5eb8108cf5d8248c29e2d79542da3774a8448a1 100644
--- a/.gitattributes
+++ b/.gitattributes
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 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+media/cddemo.gif filter=lfs diff=lfs merge=lfs -text
diff --git a/README.md b/README.md
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index 0000000000000000000000000000000000000000..34c300d3329ec3cd5ab92e5f9aaf0ae997fd5f14
--- /dev/null
+++ b/README.md
@@ -0,0 +1,35 @@
+---
+license: "mit"
+datasets:
+- robomimic
+- Push-T
+arxiv: 2307.01849
+tags:
+- robotics
+- diffusion
+- self-supervised learning
+- behaviour-cloning
+- diffusion policy
+---
+# Crossway Diffusion: Improving Diffusion-based Visuomotor Policy via Self-supervised Learning
+
+This is the checkpoint release of the [ICRA'24](https://2024.ieee-icra.org/) paper [Crossway Diffusion: Improving Diffusion-based Visuomotor Policy via Self-supervised Learning](https://arxiv.org/abs/2307.01849). 
+
+
+This repo contains:
+- Pretrained models (500 epochs): `./checkpoints/crossway_diffusion-<task>-s<seed>.ckpt`
+- SHA1 checksums: `./checkpoints/crossway_diffusion-<task>-s<seed>.ckpt.sha1`
+- Evaluation results (1000 episodes): `./checkpoints/crossway_diffusion-<task>-s<seed>.ckpt.json`
+
+Available tasks: `can_mh`, `can_ph`, `lift_mh`, `lift_ph`, `square_mh`, `square_ph`, `transport_mh`, `transport_ph`, `tool_hang_ph`, `pusht`
+
+Available seeds: `42`, `43`, `44`
+
+Please replace `<task>` with a specific task name and replace `<seed>` with `42`, `43`, or `44` to navigate the repo.
+For example, the path of pretrained model for task Push-T trained on seed 42 is `./checkpoints/crossway_diffusion-pusht-s42.ckpt`
+
+For the training and evaluation code, please visit our [github repo](https://github.com/LostXine/crossway_diffusion).
+
+Watch [🎬 video presentation](https://youtu.be/9deKHueZBuk)!
+
+For questions, please raise a [github issue](https://github.com/LostXine/crossway_diffusion/issues).
diff --git a/checkpoints/crossway_diffusion-can_mh-s42.ckpt b/checkpoints/crossway_diffusion-can_mh-s42.ckpt
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diff --git a/checkpoints/crossway_diffusion-can_mh-s42.ckpt.json b/checkpoints/crossway_diffusion-can_mh-s42.ckpt.json
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new file mode 100644
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