| --- |
| license: mit |
| arxiv: 2307.01849 |
| task_categories: |
| - robotics |
| --- |
| # Crossway Ducks |
|
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| This is the dataset repo for real world experiments presented in [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). |
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| These datasets are collected in the same format as [robomimic](https://robomimic.github.io/docs/datasets/overview.html). |
| To train on this dataset (and your own datasets), please modify your config file as follows: |
| 1. Change `dataset_path` to the path of `hdf5` file. |
| 2. Use the following `shape_meta`. |
|
|
| ``` |
| shape_meta: |
| action: |
| shape: |
| - 4 |
| obs: |
| pos: |
| shape: |
| - 4 |
| type: low_dim |
| camera0: |
| shape: |
| - 3 |
| - 120 |
| - 160 |
| type: rgb |
| camera1: |
| shape: |
| - 3 |
| - 120 |
| - 160 |
| type: rgb |
| ``` |
|
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| For the training and evaluation code, please visit our [github repo](https://github.com/LostXine/crossway_diffusion). |
|
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| Watch [🎬 video presentation](https://youtu.be/9deKHueZBuk)! |
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| For questions, please raise a [github issue](https://github.com/LostXine/crossway_diffusion/issues). |
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