varunbel/crossway_ducks

Crossway Ducks

This is the dataset repo for real world experiments presented in ICRA'24 paper Crossway Diffusion: Improving Diffusion-based Visuomotor Policy via Self-supervised Learning.

These datasets are collected in the same format as robomimic. 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.

Watch 🎬 video presentation!

For questions, please raise a github issue.