Proposal: URML (substrate-neutral robot intent) capability-manifest mapping for foundational Diffusion Policy + diffusion-policy class Spec RFC umbrella

[idoco2003]

Hi @real-stanford / Cheng Chi et al,

Proposing a URML v0.1 capability-manifest mapping for the foundational Diffusion Policy over real-stanford/diffusion_policy. URML (Apache-2.0) is a substrate-neutral spec for robot intent: typed primitive vocabulary + capability manifest + static validator.

Diffusion Policy is the architectural reference every 2025-era DP variant extends. URML's outreach engages the lineage at the canonical root: a Spec RFC adding the diffusion_policy controller-class declaration is queued, with the foundational paper's manifest-field expectations informing the design.

Acknowledging real-stanford/diffusion_policy has been quiet for >17 months. The architecture is foundational rather than actively-iterating; engagement is light-touch.

This is proposal-only, part of URML's Move #11 outreach (15 net-new VLA / foundation-model RFCs in this wave).

Full RFC: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0142-stanford-diffusion-policy-outreach.md

Questions worth maintainer input on:

1. Repository status. Active, dormant-but-supported, or has the architecture moved to a successor?
2. Diffusion-policy class manifest fields. Diffusion-step count, action-horizon, backbone class, input-modality declaration?
3. Action-chunk-horizon semantics. Manifest declaration shape?
4. Bridge home. URML repo (reference/vla-bridge/), Stanford-maintained, or external?
5. Anything else.

Ido Yahalomi (URML maintainer, urml.dev, greenvh@gmail.com)

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AI-assisted prose, maintainer-reviewed before posting (see VIBE.md). Human-only correspondence available on request.