Datasets:
metadata
license: mit
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: https://saytap.github.io/
- Paper: https://arxiv.org/abs/2306.07580
- License: mit
Dataset Structure
{
"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:
@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}
}