---
license: mit
language:
- en
pretty_name: X-Diffusion
task_categories:
- robotics
tags:
- cross-embodiment
- imitation-learning
- human-demonstrations
- robot-learning
size_categories:
- 1K<n<10K
---

# X-Diffusion

This dataset was used in our paper [X-Diffusion: Training Diffusion Policies on Cross-Embodiment Human Demonstrations](https://huggingface.co/papers/2511.04671).

Also check out our project website and code [here](https://portal-cornell.github.io/X-Diffusion/).