U-Net

U-Net is a type of convolutional neural network (CNN) architecture designed primarily for image segmentation tasks.

I’ve heard about this architecture before, but I think I was reintroduced after reading on Diffusion Policy

https://en.wikipedia.org/wiki/U-Net

Is U-Net an autoencoder?

Yes, it’s basically an Autoencoder with skip connections, to allow the network to retain spatial information that would otherwise be lost during downsampling