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