---
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).