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README.md
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---
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task_categories:
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- robotics
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tags:
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- LeRobot
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---
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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```json
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{
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"codebase_version": "v2.0",
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"robot_type": "unknown",
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"total_episodes": 206,
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"total_frames": 25650,
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"splits": {
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"train": "0:206"
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},
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"
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],
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"video_keys": [],
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"image_keys": [
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"observation.image"
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],
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"shapes": {
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"observation.state": 2,
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"action": 2,
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"observation.image": {
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}
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}
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}
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```
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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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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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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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## Dataset Description
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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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## Dataset Structure
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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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"total_episodes": 206,
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"total_frames": 25650,
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"splits": {
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"train": "0:206"
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},
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"video_path": null,
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"features": {
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"observation.image": {
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"dtype": "image",
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"shape": [
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96,
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96,
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3
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],
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"names": [
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"height",
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"width",
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"channel"
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]
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},
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"observation.state": {
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"dtype": "float32",
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"shape": [
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2
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],
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"names": {
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"motors": [
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"motor_0",
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"motor_1"
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]
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}
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},
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"action": {
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"dtype": "float32",
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"shape": [
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2
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],
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"names": {
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"motors": [
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"motor_0",
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"motor_1"
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]
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}
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},
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"episode_index": {
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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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"frame_index": {
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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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"timestamp": {
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"dtype": "float32",
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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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"next.reward": {
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"dtype": "float32",
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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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"next.done": {
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"dtype": "bool",
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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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"next.success": {
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"dtype": "bool",
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"shape": [
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],
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"names": null
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},
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"index": {
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"dtype": "int64",
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"shape": [
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],
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"names": null
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},
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"task_index": {
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"dtype": "int64",
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"shape": [
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],
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"names": null
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}
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}
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}
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```
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## Citation
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**BibTeX:**
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```bibtex
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@article{chi2024diffusionpolicy,
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author = {Cheng Chi and Zhenjia Xu and Siyuan Feng and Eric Cousineau and Yilun Du and Benjamin Burchfiel and Russ Tedrake and Shuran Song},
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title ={Diffusion Policy: Visuomotor Policy Learning via Action Diffusion},
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journal = {The International Journal of Robotics Research},
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year = {2024},
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}
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```
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