| --- |
| license: mit |
| tags: |
| - robotics |
| - multimodal |
| - finetuning |
| - vla |
| - rdt |
| --- |
| |
| # Dataset Card |
|
|
| This is the fine-tuning dataset used in the paper *RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation*. |
|
|
| ## Source |
|
|
| - Project Page: https://rdt-robotics.github.io/rdt-robotics/ |
| - Paper: https://arxiv.org/pdf/2410.07864 |
| - Code: https://github.com/thu-ml/RoboticsDiffusionTransformer |
| - Model: https://huggingface.co/robotics-diffusion-transformer/rdt-1b |
|
|
| ## Uses |
|
|
| Download all archive files and use the following command to extract: |
| ```bash |
| cat rdt_data.tar.gz.* | tar -xzvf - |
| ``` |
|
|
| In the resulting `rdt_data` folder, each sub-folder is a task. In each task sub-folder, we have HDF5 files and the instruction JSON file, as illustrated below: |
| ``` |
| rdt_data/---task_1/---episode_1.hdf5 |
| | | |
| |-task_2/ |-episode_2.hdf5 |
| | | |
| |-task_3/ |-... |
| | | |
| |-... |-expanded_instruction_gpt-4-turbo.json |
| ``` |
| Each HDF5 file corresponds to a trajectory/episode of the task, which has the following keys: |
| - `observations`: |
| - `qpos`: joint positions of the two robot arms, (TRAJ_LEN, 14); the seventh and fourteenth joints are gripper joint angles |
| - `images`: |
| - `cam_high`: RGB images from the exterior camera at each time step, (TRAJ_LEN, 480, 640, 3) |
| - `cam_left_wrist`: RGB images from the left-wrist camera at each time step, (TRAJ_LEN, 480, 640, 3) |
| - `cam_right_wrist`: RGB images from the right-wrist camera at each time step, (TRAJ_LEN, 480, 640, 3) |
| - `action`: desired joint positions of the two robot arms at the next time step, |
| (TRAJ_LEN, 14); Note that this is slightly different from the actual joint positions at the next time step |
|
|
| Note: The number in `episode_<NUMBER>.hdf5` is not necessarily consecutive. `TRAJ_LEN` may vary from episode to episode. |
| |
| Each JSON file corresponds to the annotated language instructions of the task, which has the following keys: |
| - `instruction`: original human-annotated instructions; its value is a string |
| - `expanded_instruction`: instructions generated by GPT-4-Turbo by expanding the original one; its value is a list of strings |
| - `simplified_instruction`: instructions generated by GPT-4-Turbo by simplifying the original one; its value is a list of strings |
|
|
| ## Citation |
|
|
| If you find our work helpful, please cite us: |
|
|
| ```bibtex |
| @article{liu2024rdt, |
| title={RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation}, |
| author={Liu, Songming and Wu, Lingxuan and Li, Bangguo and Tan, Hengkai and Chen, Huayu and Wang, Zhengyi and Xu, Ke and Su, Hang and Zhu, Jun}, |
| journal={arXiv preprint arXiv:2410.07864}, |
| year={2024} |
| } |
| ``` |
|
|
| Thank you! |
