Hexapod locomotion with CPG
This dataset includes time-series motion data of a hexapod walked by CPGs.
Each trajectory has 500 steps of 18-dimensional observed joint angles and 18 reference joint angles as state; and six commands to CPGs as action.
150 trajectories for training, 25 trajectories for validation, and 25 trajectories for test are seperately summarized in the respective files.
You can read each trajectory by Pandas, pandas.read_pickle(file_name).
First column is for state and Second column is for action.
Row is time step.
In the csv files, all the files are listed up as training, validation, or test data.