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--- |
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license: mit |
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task_categories: |
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- robotics |
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--- |
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# Dataset of Reactive Diffusion Policy |
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## Contents |
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- [Description](#description) |
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- [Structure](#structure) |
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- [Usage](#usage) |
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- [Tactile Dataset](#tactile-dataset) |
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## Description |
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This is the raw and postprocessed dataset used in the paper |
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[Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation](https://reactive-diffusion-policy.github.io). |
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- [Paper](https://arxiv.org/pdf/2503.02881) |
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- [Project Homepage](https://reactive-diffusion-policy.github.io) |
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- [GitHub Repository](https://github.com/xiaoxiaoxh/reactive_diffusion_policy) |
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- [Pretrained Models](https://huggingface.co/WendiChen/reactive_diffusion_policy_model) |
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## Structure |
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We offer two versions of the dataset: |
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one is the [full dataset](https://huggingface.co/datasets/WendiChen/reactive_diffusion_policy_dataset/tree/main/dataset_full) used to train the models in our paper, |
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and the other is a [mini dataset](https://huggingface.co/datasets/WendiChen/reactive_diffusion_policy_dataset/tree/main/dataset_mini) for easier examination. |
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Both versions include raw and postprocessed subsets of peeling, wiping and lifting. |
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Each raw subset is structured as follows: |
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``` |
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subset_name |
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├── seq_01.pkl |
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├── seq_02.pkl |
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├── ... |
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``` |
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> Note that we split the full raw lifting subset into 2 parts due to file size restrictions. |
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Each postprocessed subset is stored in [Zarr](https://zarr.dev) format, which is structured as follows: |
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``` |
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├── action (25710, 4) float32 |
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├── external_img (25710, 240, 320, 3) uint8 |
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├── left_gripper1_img (25710, 240, 320, 3) uint8 |
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├── left_gripper1_initial_marker (25710, 63, 2) float32 |
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├── left_gripper1_marker_offset (25710, 63, 2) float32 |
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├── left_gripper1_marker_offset_emb (25710, 15) float32 |
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├── left_gripper2_img (25710, 240, 320, 3) uint8 |
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├── left_gripper2_initial_marker (25710, 25, 2) float32 |
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├── left_gripper2_marker_offset (25710, 25, 2) float32 |
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├── left_gripper2_marker_offset_emb (25710, 15) float32 |
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├── left_robot_gripper_force (25710, 1) float32 |
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├── left_robot_gripper_width (25710, 1) float32 |
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├── left_robot_tcp_pose (25710, 9) float32 |
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├── left_robot_tcp_vel (25710, 6) float32 |
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├── left_robot_tcp_wrench (25710, 6) float32 |
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├── left_wrist_img (25710, 240, 320, 3) uint8 |
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├── right_robot_gripper_force (25710, 1) float32 |
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├── right_robot_gripper_width (25710, 1) float32 |
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├── right_robot_tcp_pose (25710, 9) float32 |
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├── right_robot_tcp_vel (25710, 6) float32 |
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├── right_robot_tcp_wrench (25710, 6) float32 |
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├── target (25710, 4) float32 |
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└── timestamp (25710,) float32 |
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``` |
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## Usage |
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Follow the [README in our GitHub repo](https://github.com/xiaoxiaoxh/reactive_diffusion_policy) |
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to [postprocess the raw data](https://github.com/xiaoxiaoxh/reactive_diffusion_policy#data-postprocessing) |
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and [train the model](https://github.com/xiaoxiaoxh/reactive_diffusion_policy#-training). |
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## Tactile Dataset |
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We also provide the raw videos of the [tactile dataset](https://huggingface.co/datasets/WendiChen/reactive_diffusion_policy_dataset/tree/main/dataset_tactile_embedding) used for generate the PCA embedding in our paper. |
