utokyo_saytap
收藏魔搭社区2025-11-02 更新2025-02-08 收录
下载链接：
https://modelscope.cn/datasets/lerobot/utokyo_saytap
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资源简介：
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
## Dataset Description
- **Homepage:** https://saytap.github.io/
- **Paper:** https://arxiv.org/abs/2306.07580
- **License:** mit
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 20,
"total_frames": 22937,
"total_tasks": 20,
"total_videos": 40,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:20"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"observation.images.wrist_image": {
"dtype": "video",
"shape": [
64,
64,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 5.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.image": {
"dtype": "video",
"shape": [
64,
64,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 5.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"language_instruction": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.state": {
"dtype": "float32",
"shape": [
30
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7",
"motor_8",
"motor_9",
"motor_10",
"motor_11",
"motor_12",
"motor_13",
"motor_14",
"motor_15",
"motor_16",
"motor_17",
"motor_18",
"motor_19",
"motor_20",
"motor_21",
"motor_22",
"motor_23",
"motor_24",
"motor_25",
"motor_26",
"motor_27",
"motor_28",
"motor_29"
]
}
},
"action": {
"dtype": "float32",
"shape": [
12
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7",
"motor_8",
"motor_9",
"motor_10",
"motor_11"
]
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```
## Citation
**BibTeX:**
```bibtex
@article{saytap2023,
author = {Yujin Tang and Wenhao Yu and Jie Tan and Heiga Zen and Aleksandra Faust and
Tatsuya Harada},
title = {SayTap: Language to Quadrupedal Locomotion},
eprint = {arXiv:2306.07580},
url = {https://saytap.github.io},
note = {https://saytap.github.io},
year = {2023}
}
```
本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。
## 数据集说明
- **主页**：https://saytap.github.io/
- **论文**：https://arxiv.org/abs/2306.07580
- **许可证**：MIT
## 数据集结构
`[meta/info.json](meta/info.json)`:
json
{
"代码库版本": "v2.0",
"机器人类型": "未知",
"总回合数": 20,
"总帧数": 22937,
"总任务数": 20,
"总视频数": 40,
"总块数": 1,
"块大小": 1000,
"帧率(fps)": 5,
"数据集划分": {
"训练集": "0:20"
},
"数据路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征项": {
"观测图像.腕部图像": {
"数据类型": "视频",
"形状": [
64,
64,
3
],
"维度含义": [
"高度",
"宽度",
"通道数"
],
"视频信息": {
"视频帧率(fps)": 5.0,
"视频编码格式(av1)": "av1",
"视频像素格式(yuv420p)": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
}
},
"观测图像.主图像": {
"数据类型": "视频",
"形状": [
64,
64,
3
],
"维度含义": [
"高度",
"宽度",
"通道数"
],
"视频信息": {
"视频帧率(fps)": 5.0,
"视频编码格式(av1)": "av1",
"视频像素格式(yuv420p)": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
}
},
"语言指令": {
"数据类型": "字符串",
"形状": [
1
],
"维度名称": null
},
"观测状态": {
"数据类型": "32位浮点数(float32)",
"形状": [
30
],
"维度名称": {
"电机": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7",
"motor_8",
"motor_9",
"motor_10",
"motor_11",
"motor_12",
"motor_13",
"motor_14",
"motor_15",
"motor_16",
"motor_17",
"motor_18",
"motor_19",
"motor_20",
"motor_21",
"motor_22",
"motor_23",
"motor_24",
"motor_25",
"motor_26",
"motor_27",
"motor_28",
"motor_29"
]
}
},
"动作": {
"数据类型": "32位浮点数(float32)",
"形状": [
12
],
"维度名称": {
"电机": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7",
"motor_8",
"motor_9",
"motor_10",
"motor_11"
]
}
},
"时间戳": {
"数据类型": "32位浮点数(float32)",
"形状": [
1
],
"维度名称": null
},
"回合索引": {
"数据类型": "64位整数(int64)",
"形状": [
1
],
"维度名称": null
},
"帧索引": {
"数据类型": "64位整数(int64)",
"形状": [
1
],
"维度名称": null
},
"下一时刻奖励": {
"数据类型": "32位浮点数(float32)",
"形状": [
1
],
"维度名称": null
},
"下一时刻是否终止": {
"数据类型": "布尔型(bool)",
"形状": [
1
],
"维度名称": null
},
"全局索引": {
"数据类型": "64位整数(int64)",
"形状": [
1
],
"维度名称": null
},
"任务索引": {
"数据类型": "64位整数(int64)",
"形状": [
1
],
"维度名称": null
}
}
}
## 引用
**BibTeX格式引用：**
bibtex
@article{saytap2023,
author = {Yujin Tang and Wenhao Yu and Jie Tan and Heiga Zen and Aleksandra Faust and Tatsuya Harada},
title = {SayTap：从语言指令到四足机器人步态运动},
eprint = {arXiv:2306.07580},
url = {https://saytap.github.io},
note = {https://saytap.github.io},
year = {2023}
}
提供机构：
maas
创建时间：
2025-02-06
