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 of hdf5 file.
Use the following shape_meta.
shape_meta:
action:
shape:
- 4
obs:
pos:… See the full description on the dataset page:
https://huggingface.co/datasets/varunbel/crossway_ducks.
