diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 0ad773f3..e9edad05 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -69,10 +69,7 @@ jobs:
           key: venv-${{ steps.setup-python.outputs.python-version }}-${{ env.POETRY_VERSION }}-${{ hashFiles('**/poetry.lock') }}
       - name: Install dependencies
         if: steps.restore-dependencies-cache.outputs.cache-hit != 'true'
-        run: |
-          poetry install --no-interaction --no-root
-          git clone https://github.com/real-stanford/diffusion_policy
-          cp -r diffusion_policy/diffusion_policy $(poetry env info -p)/lib/python3.10/site-packages/
+        run: poetry install --no-interaction --no-root
       - name: Save cached venv
         if: |
             steps.restore-dependencies-cache.outputs.cache-hit != 'true' &&
diff --git a/.gitignore b/.gitignore
index e2d4c0ec..ad9892d4 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,6 +1,3 @@
-# Custom
-diffusion_policy
-
 # Logging
 logs
 tmp
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index c23a42bc..2b79434a 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,4 +1,4 @@
-exclude: ^(data/|tests/|diffusion_policy/)
+exclude: ^(data/|tests/)
 default_language_version:
     python: python3.10
 repos:
diff --git a/README.md b/README.md
index 795bacaf..551270b5 100644
--- a/README.md
+++ b/README.md
@@ -24,12 +24,6 @@ mkdir ~/tmp
 export TMPDIR='~/tmp'
 ```
 
-Install `diffusion_policy` #HACK
-```
-# from this directory
-git clone https://github.com/real-stanford/diffusion_policy
-cp -r diffusion_policy/diffusion_policy $(poetry env info -p)/lib/python3.10/site-packages/
-```
 
 ## Usage
 
diff --git a/poetry.lock b/poetry.lock
index 9a35071b..db4f8f3e 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -477,21 +477,6 @@ test = ["GitPython (<3.1.19)", "Jinja2", "compel (==0.1.8)", "datasets", "invisi
 torch = ["accelerate (>=0.11.0)", "torch (>=1.4,<2.2.0)"]
 training = ["Jinja2", "accelerate (>=0.11.0)", "datasets", "peft (>=0.6.0)", "protobuf (>=3.20.3,<4)", "tensorboard"]
 
-[[package]]
-name = "diffusion_policy"
-version = "0.0.0"
-description = ""
-optional = false
-python-versions = "*"
-files = []
-develop = false
-
-[package.source]
-type = "git"
-url = "https://github.com/real-stanford/diffusion_policy"
-reference = "HEAD"
-resolved_reference = "548a52bbb105518058e27bf34dcf90bf6f73681a"
-
 [[package]]
 name = "distlib"
 version = "0.3.8"
@@ -3140,4 +3125,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.10"
-content-hash = "9c3e86956dd11bc8d7823e5e6c5e74a073051b495f71f96179113d99791f7ca0"
+content-hash = "c4d83579aed1c8c2e54cad7c8ec81b95a09ab8faff74fc9a4cb20bd00e4ddec6"
diff --git a/pyproject.toml b/pyproject.toml
index 64cbb850..ebce8f32 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -45,7 +45,6 @@ mujoco = "^3.1.2"
 mujoco-py = "^2.1.2.14"
 gym = "^0.26.2"
 opencv-python = "^4.9.0.80"
-diffusion-policy = {git = "https://github.com/real-stanford/diffusion_policy"}
 diffusers = "^0.26.3"
 torchvision = "^0.17.1"
 h5py = "^3.10.0"