Hugging Face's logo

Datasets:
lerobot
/
utokyo_saytap

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
ArXiv:
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Viewer Files Community
aliberts HF staff commited on
Commit
f56414d
·
verified ·
1 Parent(s): b48e153

Upload README.md with huggingface_hub

Browse files
Files changed (1) hide show
  1. README.md +189 -90
README.md CHANGED
@@ -1,16 +1,30 @@
1
  ---
 
2
  task_categories:
3
  - robotics
4
  tags:
5
  - LeRobot
 
 
 
6
  ---
 
7
  This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
8
 
9
- [meta/info.json](meta/info.json)
 
 
 
 
 
 
 
 
 
 
10
  ```json
11
  {
12
  "codebase_version": "v2.0",
13
- "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
14
  "robot_type": "unknown",
15
  "total_episodes": 20,
16
  "total_frames": 22937,
@@ -22,99 +36,184 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
22
  "splits": {
23
  "train": "0:20"
24
  },
25
- "keys": [
26
- "observation.state",
27
- "action"
28
- ],
29
- "video_keys": [
30
- "observation.images.wrist_image",
31
- "observation.images.image"
32
- ],
33
- "image_keys": [],
34
- "shapes": {
35
- "observation.state": 30,
36
- "action": 12,
37
  "observation.images.wrist_image": {
38
- "width": 64,
39
- "height": 64,
40
- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
41
  },
42
  "observation.images.image": {
43
- "width": 64,
44
- "height": 64,
45
- "channels": 3
46
- }
47
- },
48
- "names": {
49
- "observation.state": [
50
- "motor_0",
51
- "motor_1",
52
- "motor_2",
53
- "motor_3",
54
- "motor_4",
55
- "motor_5",
56
- "motor_6",
57
- "motor_7",
58
- "motor_8",
59
- "motor_9",
60
- "motor_10",
61
- "motor_11",
62
- "motor_12",
63
- "motor_13",
64
- "motor_14",
65
- "motor_15",
66
- "motor_16",
67
- "motor_17",
68
- "motor_18",
69
- "motor_19",
70
- "motor_20",
71
- "motor_21",
72
- "motor_22",
73
- "motor_23",
74
- "motor_24",
75
- "motor_25",
76
- "motor_26",
77
- "motor_27",
78
- "motor_28",
79
- "motor_29"
80
- ],
81
- "action": [
82
- "motor_0",
83
- "motor_1",
84
- "motor_2",
85
- "motor_3",
86
- "motor_4",
87
- "motor_5",
88
- "motor_6",
89
- "motor_7",
90
- "motor_8",
91
- "motor_9",
92
- "motor_10",
93
- "motor_11"
94
- ]
95
- },
96
- "videos": {
97
- "videos_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
98
- "observation.images.wrist_image": {
99
- "video.fps": 5.0,
100
- "video.width": 64,
101
- "video.height": 64,
102
- "video.channels": 3,
103
- "video.codec": "av1",
104
- "video.pix_fmt": "yuv420p",
105
- "video.is_depth_map": false,
106
- "has_audio": false
107
  },
108
- "observation.images.image": {
109
- "video.fps": 5.0,
110
- "video.width": 64,
111
- "video.height": 64,
112
- "video.channels": 3,
113
- "video.codec": "av1",
114
- "video.pix_fmt": "yuv420p",
115
- "video.is_depth_map": false,
116
- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
117
  }
118
  }
119
  }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
120
  ```
 
1
  ---
2
+ license: mit
3
  task_categories:
4
  - robotics
5
  tags:
6
  - LeRobot
7
+ configs:
8
+ - config_name: default
9
+ data_files: data/*/*.parquet
10
  ---
11
+
12
  This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
13
 
14
+ ## Dataset Description
15
+
16
+
17
+
18
+ - **Homepage:** https://saytap.github.io/
19
+ - **Paper:** https://arxiv.org/abs/2306.07580
20
+ - **License:** mit
21
+
22
+ ## Dataset Structure
23
+
24
+ [meta/info.json](meta/info.json):
25
  ```json
26
  {
27
  "codebase_version": "v2.0",
 
28
  "robot_type": "unknown",
29
  "total_episodes": 20,
30
  "total_frames": 22937,
 
36
  "splits": {
37
  "train": "0:20"
38
  },
39
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
40
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
41
+ "features": {
 
 
 
 
 
 
 
 
 
42
  "observation.images.wrist_image": {
43
+ "dtype": "video",
44
+ "shape": [
45
+ 64,
46
+ 64,
47
+ 3
48
+ ],
49
+ "names": [
50
+ "height",
51
+ "width",
52
+ "channel"
53
+ ],
54
+ "video_info": {
55
+ "video.fps": 5.0,
56
+ "video.codec": "av1",
57
+ "video.pix_fmt": "yuv420p",
58
+ "video.is_depth_map": false,
59
+ "has_audio": false
60
+ }
61
  },
62
  "observation.images.image": {
63
+ "dtype": "video",
64
+ "shape": [
65
+ 64,
66
+ 64,
67
+ 3
68
+ ],
69
+ "names": [
70
+ "height",
71
+ "width",
72
+ "channel"
73
+ ],
74
+ "video_info": {
75
+ "video.fps": 5.0,
76
+ "video.codec": "av1",
77
+ "video.pix_fmt": "yuv420p",
78
+ "video.is_depth_map": false,
79
+ "has_audio": false
80
+ }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
81
  },
82
+ "language_instruction": {
83
+ "dtype": "string",
84
+ "shape": [
85
+ 1
86
+ ],
87
+ "names": null
88
+ },
89
+ "observation.state": {
90
+ "dtype": "float32",
91
+ "shape": [
92
+ 30
93
+ ],
94
+ "names": {
95
+ "motors": [
96
+ "motor_0",
97
+ "motor_1",
98
+ "motor_2",
99
+ "motor_3",
100
+ "motor_4",
101
+ "motor_5",
102
+ "motor_6",
103
+ "motor_7",
104
+ "motor_8",
105
+ "motor_9",
106
+ "motor_10",
107
+ "motor_11",
108
+ "motor_12",
109
+ "motor_13",
110
+ "motor_14",
111
+ "motor_15",
112
+ "motor_16",
113
+ "motor_17",
114
+ "motor_18",
115
+ "motor_19",
116
+ "motor_20",
117
+ "motor_21",
118
+ "motor_22",
119
+ "motor_23",
120
+ "motor_24",
121
+ "motor_25",
122
+ "motor_26",
123
+ "motor_27",
124
+ "motor_28",
125
+ "motor_29"
126
+ ]
127
+ }
128
+ },
129
+ "action": {
130
+ "dtype": "float32",
131
+ "shape": [
132
+ 12
133
+ ],
134
+ "names": {
135
+ "motors": [
136
+ "motor_0",
137
+ "motor_1",
138
+ "motor_2",
139
+ "motor_3",
140
+ "motor_4",
141
+ "motor_5",
142
+ "motor_6",
143
+ "motor_7",
144
+ "motor_8",
145
+ "motor_9",
146
+ "motor_10",
147
+ "motor_11"
148
+ ]
149
+ }
150
+ },
151
+ "timestamp": {
152
+ "dtype": "float32",
153
+ "shape": [
154
+ 1
155
+ ],
156
+ "names": null
157
+ },
158
+ "episode_index": {
159
+ "dtype": "int64",
160
+ "shape": [
161
+ 1
162
+ ],
163
+ "names": null
164
+ },
165
+ "frame_index": {
166
+ "dtype": "int64",
167
+ "shape": [
168
+ 1
169
+ ],
170
+ "names": null
171
+ },
172
+ "next.reward": {
173
+ "dtype": "float32",
174
+ "shape": [
175
+ 1
176
+ ],
177
+ "names": null
178
+ },
179
+ "next.done": {
180
+ "dtype": "bool",
181
+ "shape": [
182
+ 1
183
+ ],
184
+ "names": null
185
+ },
186
+ "index": {
187
+ "dtype": "int64",
188
+ "shape": [
189
+ 1
190
+ ],
191
+ "names": null
192
+ },
193
+ "task_index": {
194
+ "dtype": "int64",
195
+ "shape": [
196
+ 1
197
+ ],
198
+ "names": null
199
  }
200
  }
201
  }
202
+ ```
203
+
204
+
205
+ ## Citation
206
+
207
+ **BibTeX:**
208
+
209
+ ```bibtex
210
+ @article{saytap2023,
211
+ author = {Yujin Tang and Wenhao Yu and Jie Tan and Heiga Zen and Aleksandra Faust and
212
+ Tatsuya Harada},
213
+ title = {SayTap: Language to Quadrupedal Locomotion},
214
+ eprint = {arXiv:2306.07580},
215
+ url = {https://saytap.github.io},
216
+ note = {https://saytap.github.io},
217
+ year = {2023}
218
+ }
219
  ```