---
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!