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--- |
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license: mit |
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arxiv: 2307.01849 |
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task_categories: |
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- robotics |
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--- |
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# 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). |
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To train on this dataset (and your own datasets), please modify your config file as follows: |
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1. Change `dataset_path` to the path of `hdf5` file. |
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2. Use the following `shape_meta`. |
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``` |
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shape_meta: |
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action: |
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shape: |
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- 4 |
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obs: |
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pos: |
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shape: |
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- 4 |
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type: low_dim |
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camera0: |
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shape: |
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- 3 |
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- 120 |
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- 160 |
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type: rgb |
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camera1: |
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shape: |
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- 3 |
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- 120 |
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- 160 |
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type: rgb |
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``` |
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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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