diff --git a/.gitattributes b/.gitattributes index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..55cab133643a2a73e083373d2106533678d0edd5 100644 --- a/.gitattributes +++ b/.gitattributes @@ -9,7 +9,6 @@ *.joblib filter=lfs diff=lfs merge=lfs -text *.lfs.* filter=lfs diff=lfs merge=lfs -text *.lz4 filter=lfs diff=lfs merge=lfs -text -*.mds filter=lfs diff=lfs merge=lfs -text *.mlmodel filter=lfs diff=lfs merge=lfs -text *.model filter=lfs diff=lfs merge=lfs -text *.msgpack filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..9005ff31912b5b48506e519c2534cc63961d0e74 --- /dev/null +++ b/README.md @@ -0,0 +1,158 @@ +--- +license: mit +task_categories: +- robotics +tags: +- LeRobot +configs: +- config_name: default + data_files: data/*/*.parquet +--- + +This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). + +## Dataset Description + + + +- **Homepage:** https://diffusion-policy.cs.columbia.edu/ +- **Paper:** https://arxiv.org/abs/2303.04137v5 +- **License:** mit + +## Dataset Structure + +[meta/info.json](meta/info.json): +```json +{ + "codebase_version": "v2.0", + "robot_type": "unknown", + "total_episodes": 206, + "total_frames": 25650, + "total_tasks": 1, + "total_videos": 206, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 10, + "splits": { + "train": "0:206" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "observation.image": { + "dtype": "video", + "shape": [ + 96, + 96, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 10.0, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 2 + ], + "names": { + "motors": [ + "motor_0", + "motor_1" + ] + } + }, + "action": { + "dtype": "float32", + "shape": [ + 2 + ], + "names": { + "motors": [ + "motor_0", + "motor_1" + ] + } + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "next.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "next.success": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + } + } +} +``` + + +## Citation + +**BibTeX:** + +```bibtex +@article{chi2024diffusionpolicy, + author = {Cheng Chi and Zhenjia Xu and Siyuan Feng and Eric Cousineau and Yilun Du and Benjamin Burchfiel and Russ Tedrake and Shuran Song}, + title ={Diffusion Policy: Visuomotor Policy Learning via Action Diffusion}, + journal = {The International Journal of Robotics Research}, + year = {2024}, +} +``` \ No newline at end of file diff --git a/data/chunk-000/episode_000000.parquet b/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..df4f40a80908d1b7fa2238a0d1ac3d05b79d990f Binary files /dev/null and b/data/chunk-000/episode_000000.parquet differ diff --git a/data/chunk-000/episode_000001.parquet b/data/chunk-000/episode_000001.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5f3088f6fab0acf6a84e22549f5f7158e65cf341 Binary files /dev/null and b/data/chunk-000/episode_000001.parquet differ diff --git a/data/chunk-000/episode_000002.parquet b/data/chunk-000/episode_000002.parquet new file mode 100644 index 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