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- .gitattributes +0 -1
- README.md +158 -0
- data/chunk-000/episode_000000.parquet +3 -0
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README.md
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| 1 |
+
---
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| 2 |
+
license: mit
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| 3 |
+
task_categories:
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| 4 |
+
- robotics
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| 5 |
+
tags:
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+
- LeRobot
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configs:
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- config_name: default
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data_files: data/*/*.parquet
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---
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+
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+
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
## Dataset Description
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| 15 |
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+
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- **Homepage:** https://diffusion-policy.cs.columbia.edu/
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- **Paper:** https://arxiv.org/abs/2303.04137v5
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- **License:** mit
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| 21 |
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|
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## Dataset Structure
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| 23 |
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[meta/info.json](meta/info.json):
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```json
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{
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"codebase_version": "v2.0",
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"robot_type": "unknown",
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| 29 |
+
"total_episodes": 206,
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| 30 |
+
"total_frames": 25650,
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| 31 |
+
"total_tasks": 1,
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| 32 |
+
"total_videos": 206,
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| 33 |
+
"total_chunks": 1,
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| 34 |
+
"chunks_size": 1000,
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| 35 |
+
"fps": 10,
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"splits": {
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"train": "0:206"
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},
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| 39 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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| 40 |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 41 |
+
"features": {
|
| 42 |
+
"observation.image": {
|
| 43 |
+
"dtype": "video",
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| 44 |
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"shape": [
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| 45 |
+
96,
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| 46 |
+
96,
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+
3
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| 48 |
+
],
|
| 49 |
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"names": [
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| 50 |
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"height",
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| 51 |
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"width",
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| 52 |
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"channel"
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| 53 |
+
],
|
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"video_info": {
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"video.fps": 10.0,
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| 56 |
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"video.codec": "av1",
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| 57 |
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"video.pix_fmt": "yuv420p",
|
| 58 |
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"video.is_depth_map": false,
|
| 59 |
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"has_audio": false
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| 60 |
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}
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| 61 |
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},
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| 62 |
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"observation.state": {
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| 63 |
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"dtype": "float32",
|
| 64 |
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"shape": [
|
| 65 |
+
2
|
| 66 |
+
],
|
| 67 |
+
"names": {
|
| 68 |
+
"motors": [
|
| 69 |
+
"motor_0",
|
| 70 |
+
"motor_1"
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"action": {
|
| 75 |
+
"dtype": "float32",
|
| 76 |
+
"shape": [
|
| 77 |
+
2
|
| 78 |
+
],
|
| 79 |
+
"names": {
|
| 80 |
+
"motors": [
|
| 81 |
+
"motor_0",
|
| 82 |
+
"motor_1"
|
| 83 |
+
]
|
| 84 |
+
}
|
| 85 |
+
},
|
| 86 |
+
"episode_index": {
|
| 87 |
+
"dtype": "int64",
|
| 88 |
+
"shape": [
|
| 89 |
+
1
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| 90 |
+
],
|
| 91 |
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"names": null
|
| 92 |
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},
|
| 93 |
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"frame_index": {
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| 94 |
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"dtype": "int64",
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"shape": [
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1
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],
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"names": null
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},
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| 100 |
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"timestamp": {
|
| 101 |
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"dtype": "float32",
|
| 102 |
+
"shape": [
|
| 103 |
+
1
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| 104 |
+
],
|
| 105 |
+
"names": null
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| 106 |
+
},
|
| 107 |
+
"next.reward": {
|
| 108 |
+
"dtype": "float32",
|
| 109 |
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"shape": [
|
| 110 |
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1
|
| 111 |
+
],
|
| 112 |
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"names": null
|
| 113 |
+
},
|
| 114 |
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"next.done": {
|
| 115 |
+
"dtype": "bool",
|
| 116 |
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"shape": [
|
| 117 |
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1
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| 118 |
+
],
|
| 119 |
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"names": null
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| 120 |
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},
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| 121 |
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"next.success": {
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| 122 |
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"dtype": "bool",
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| 123 |
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"shape": [
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| 124 |
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1
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| 125 |
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],
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| 126 |
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"names": null
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},
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| 128 |
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"index": {
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| 129 |
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"dtype": "int64",
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+
"shape": [
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1
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],
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"names": null
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| 134 |
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},
|
| 135 |
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"task_index": {
|
| 136 |
+
"dtype": "int64",
|
| 137 |
+
"shape": [
|
| 138 |
+
1
|
| 139 |
+
],
|
| 140 |
+
"names": null
|
| 141 |
+
}
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
```
|
| 145 |
+
|
| 146 |
+
|
| 147 |
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## Citation
|
| 148 |
+
|
| 149 |
+
**BibTeX:**
|
| 150 |
+
|
| 151 |
+
```bibtex
|
| 152 |
+
@article{chi2024diffusionpolicy,
|
| 153 |
+
author = {Cheng Chi and Zhenjia Xu and Siyuan Feng and Eric Cousineau and Yilun Du and Benjamin Burchfiel and Russ Tedrake and Shuran Song},
|
| 154 |
+
title ={Diffusion Policy: Visuomotor Policy Learning via Action Diffusion},
|
| 155 |
+
journal = {The International Journal of Robotics Research},
|
| 156 |
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year = {2024},
|
| 157 |
+
}
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| 158 |
+
```
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| 1 |
+
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|
| 2 |
+
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|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
+
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|
| 6 |
+
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|
| 7 |
+
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|
| 8 |
+
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|
| 9 |
+
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|
| 10 |
+
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| 11 |
+
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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