metadata
license: mit
task_categories:
- robotics
Dataset of Reactive Diffusion Policy
Contents
Description
This is the raw dataset used in the paper Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation.
Structure
We offer two versions of the dataset: one is the full dataset used to train the models in our paper, and the other is a mini dataset for easier examination. Both versions include subsets of peeling, wiping and lifting. Each subset is structured as follows:
subset_name
├── seq_01.pkl
├── seq_02.pkl
├── ...
Note that we split the full lifting subset into 2 parts due to file size restrictions.
Usage
Follow the README in our GitHub repo to postprocess the data and train the model.