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---
license: mit
arxiv: 2307.01849
task_categories:
- robotics
---
# Crossway Ducks
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).
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
```
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).
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