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aractingi
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columbia_cairlab_pusht_real

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
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Tags:
LeRobot
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License:
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observation.state
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action
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "unknown",
    "total_episodes": 136,
    "total_frames": 27808,
    "total_tasks": 1,
    "total_videos": 272,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:136"
    },
    "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.images.wrist_image": {
            "dtype": "video",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
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            "video_info": {
                "video.fps": 10.0,
                "video.codec": "av1",
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        "observation.images.image": {
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            "names": [
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            "shape": [
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            "names": {
                "motors": [
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                    "motor_1",
                    "motor_2",
                    "motor_3",
                    "motor_4",
                    "motor_5",
                    "motor_6",
                    "motor_7"
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        "action": {
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            "names": {
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}

Citation

BibTeX:

@inproceedings{chi2023diffusionpolicy,
    title={Diffusion Policy: Visuomotor Policy Learning via Action Diffusion},
    author={Chi, Cheng and Feng, Siyuan and Du, Yilun and Xu, Zhenjia and Cousineau, Eric and Burchfiel, Benjamin and Song, Shuran},
    booktitle={Proceedings of Robotics: Science and Systems (RSS)},
    year={2023}
}
Downloads last month
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Homepage:
diffusion-policy.cs.columbia.edu
Paper:
arxiv.org
License:
mit
Size of downloaded dataset files:
1.88 MB
Size of the auto-converted Parquet files:
1.88 MB
Number of rows:
27,808