# SayTap (utokyo_saytap)

From the catalogue. Listed by one researcher from one source page.

- id: `saytap-utokyo-saytap`
- kind: real manipulation scripted or autonomous
- robot or device: Unitree A1 (OXE robot column; description says Go1) (class: legged)
- how collected: expert policy, not teleop
- size as stated: 20 episodes
- hours: not stated | hours only claimed: none | episodes: 20
- year: 2023
- organisation: Google DeepMind and University of Tokyo
- licence: not stated in OXE sheet (class: not stated)
- access: open via Open X-Embodiment (class: open)
- link (listing): https://docs.google.com/spreadsheets/d/1rPBD77tk60AEIGZrGSODwyyzs5FgCU9Uz3h-3_t2A9g
- other names: SayTap (OXE: utokyo_saytap)
- note: The only quadruped locomotion row in OXE.
- download links of one episode: https://datasets.gurasees.com/episodes/lerobot/utokyo_saytap.md?episode=0

## Copies and ports on the Hugging Face Hub

Uploads whose name carries this dataset's name, most downloaded first. Each has its own licence, which can differ from the original's.

| repository | robot | class | kind | episodes | hours | licence | downloads (30 d) |
|---|---|---|---|---|---|---|---|
| [lerobot/utokyo_saytap](https://huggingface.co/datasets/lerobot/utokyo_saytap) | not stated | other | recording | 20 | 1.3 | open | 490 |
| [FedorX8/utokyo_saytap_lerobot](https://huggingface.co/datasets/FedorX8/utokyo_saytap_lerobot) | not stated | other | recording | 20 | 1.3 | open | 26 |

Each repository links to its Hugging Face page, where the files download. Everything this index knows about one upload: https://datasets.gurasees.com/datasets/{repository}.md

Confirm the licence at the link before relying on it.