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RDT (Robotics Diffusion Transformer)

RDT (Robotics Diffusion Transformer) is a large model method combining diffusion models and Transformers, supporting unified modeling of multiple tasks and offering strong generalization capabilities.

📊 Data Format Conversion​

Conversion Command​

Convert the raw data collected in simulation to the HDF5 format used by the RDT algorithm:

python3 policies/act/data_process/raw_to_hdf5.py -md mujoco -dir data -tn ${task_name} -vn ${video_names}

Conversion Example​

# Example conversion
python3 policies/act/data_process/raw_to_hdf5.py -md mujoco -dir data -tn block_place -vn cam_0 cam_1

Data Movement​

Move the hdf5 file to the location required by RDT:

mv data/hdf5/${task_name} policies/RDT/training_data

Example​

mv data/hdf5/block_place policies/RDT/training_data