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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:
- Change
dataset_path
to the path ofhdf5
file. - 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.
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