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---
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/ |