|
|
--- |
|
|
license: mit |
|
|
task_categories: |
|
|
- robotics |
|
|
--- |
|
|
|
|
|
# Dataset of Reactive Diffusion Policy |
|
|
|
|
|
## Contents |
|
|
|
|
|
- [Description](#description) |
|
|
- [Structure](#structure) |
|
|
- [Usage](#usage) |
|
|
|
|
|
## Description |
|
|
|
|
|
This is the raw dataset used in the paper |
|
|
[Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation](https://huggingface.co/papers/2503.02881). |
|
|
|
|
|
- [Paper](https://arxiv.org/pdf/2503.02881) |
|
|
- [Project Homepage](https://reactive-diffusion-policy.github.io) |
|
|
- [GitHub Repository](https://github.com/xiaoxiaoxh/reactive_diffusion_policy) |
|
|
|
|
|
## Structure |
|
|
|
|
|
We offer two versions of the dataset: |
|
|
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, |
|
|
and the other is a [mini dataset](https://huggingface.co/datasets/WendiChen/reactive_diffusion_policy_dataset/tree/main/dataset_mini) 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](https://github.com/xiaoxiaoxh/reactive_diffusion_policy) |
|
|
to [postprocess the data](https://github.com/xiaoxiaoxh/reactive_diffusion_policy#data-postprocessing) |
|
|
and [train the model](https://github.com/xiaoxiaoxh/reactive_diffusion_policy#-training). |
