DADP: Domain Adaptive Diffusion Policy
Paper • 2602.04037 • Published
Dataset Viewer
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code: StreamingRowsError
Exception: CastError
Message: Couldn't cast
total_episodes: int64
total_steps: int64
data_format: string
observation_space: string
action_space: string
dataset_id: string
code_permalink: string
author: list<item: string>
child 0, item: string
author_email: list<item: string>
child 0, item: string
algorithm_name: string
minari_version: string
dataset_size: double
to
{'total_episodes': Value('int64'), 'total_steps': Value('int64'), 'data_format': Value('string'), 'observation_space': Value('string'), 'action_space': Value('string'), 'dataset_id': Value('string'), 'minari_version': Value('string'), 'dataset_size': Value('float64')}
because column names don't match
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 147, in get_rows_or_raise
return get_rows(
dataset=dataset,
...<4 lines>...
column_names=column_names,
)
File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
return func(*args, **kwargs)
File "/src/services/worker/src/worker/utils.py", line 127, in get_rows
rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
File "/src/services/worker/src/worker/utils.py", line 478, in safe_iter
yield from ds.decode(False) if ds.features else ds
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2818, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2355, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2380, in _iter_arrow
for key, pa_table in self.ex_iterable._iter_arrow():
~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 536, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 419, in _iter_arrow
for key, pa_table in self.generate_tables_fn(**gen_kwags):
~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 343, in _generate_tables
self._cast_table(pa_table, json_field_paths=json_field_paths),
~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
pa_table = table_cast(pa_table, self.info.features.arrow_schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2369, in table_cast
return cast_table_to_schema(table, schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2297, in cast_table_to_schema
raise CastError(
...<3 lines>...
)
datasets.table.CastError: Couldn't cast
total_episodes: int64
total_steps: int64
data_format: string
observation_space: string
action_space: string
dataset_id: string
code_permalink: string
author: list<item: string>
child 0, item: string
author_email: list<item: string>
child 0, item: string
algorithm_name: string
minari_version: string
dataset_size: double
to
{'total_episodes': Value('int64'), 'total_steps': Value('int64'), 'data_format': Value('string'), 'observation_space': Value('string'), 'action_space': Value('string'), 'dataset_id': Value('string'), 'minari_version': Value('string'), 'dataset_size': Value('float64')}
because column names don't matchNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
This repository contains the datasets used in the paper DADP: Domain Adaptive Diffusion Policy.
Project Page | GitHub Repository
Dataset Description
DADP (Domain Adaptive Diffusion Policy) is a framework for learning domain-adaptive policies that can generalize to unseen transition dynamics. The datasets provided include trajectories for various locomotion and manipulation benchmarks:
- Locomotion: Ant, Walker2d, HalfCheetah, Hopper.
- Manipulation: Adroit (Door, Relocate).
The manipulation datasets are sourced from the ODRL (Off-Dynamics RL) project and are noted to be smaller in size and near-random in quality compared to the locomotion environments.
Usage
As per the official repository, these datasets are intended to be used with the Minari framework. Once you have downloaded the datasets, extract and move them into your local Minari datasets directory (typically ~/.minari/datasets/).
The expected directory structure is:
~/.minari/
└── datasets/
├── RandomAnt/
├── RandomWalker2d/
├── Adroit/
└── ...
For detailed instructions on training and evaluation, please refer to the official GitHub README.
Citation
@article{liu2024dadp,
title={DADP: Domain Adaptive Diffusion Policy},
author={Liu, Qinghang and others},
journal={arXiv preprint arXiv:2602.04037},
year={2024}
}
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