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--- |
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license: mit |
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task_categories: |
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- robotics |
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--- |
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# TokenHSI Dataset Instruction |
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[2025-04-07] All datasets have been released! |
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Please download the datasets and organize them as the following file structure: |
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``` |
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|-- tokenhsi |
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|-- data |
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|-- dataset_amass_loco |
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|-- motions |
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|-- smpl_params |
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|-- ... |
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|-- dataset_amass_climb |
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|-- motions |
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|-- objects |
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|-- smpl_params |
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|-- ... |
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|-- dataset_sit |
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|-- motions |
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|-- objects |
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|-- ... |
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|-- dataset_carry |
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|-- motions |
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|-- ... |
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|-- dataset_amass_loco_stairs |
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|-- motions |
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|-- smpl_params |
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|-- ... |
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|-- dataset_dynamic_objects |
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|-- train |
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|-- test |
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|-- ... |
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|-- body_models |
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|-- output |
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``` |
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* dataset_stage1.zip, which is used in the foundational skill learning stage, contains four folders: |
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* dataset_amass_loco |
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* dataset_amass_climb |
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* dataset_sit |
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* dataset_carry |
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* dataset_stage2.zip, which is used in the policy adaptation stage, contains two folders: |
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* dataset_amass_loco_stairs |
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* dataset_dynamic_objects |
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GitHub repo: https://github.com/liangpan99/TokenHSI |
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arXiv paper: https://huggingface.co/papers/2503.19901 |
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Project page: https://liangpan99.github.io/TokenHSI/ |
