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license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- unitree-go2
- quadruped
- navigation
- rgbd
- lerobot
configs:
- config_name: default
data_files: data/*/*.parquet
---
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=nullPointerExcept1on/realworld_go2_task0">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>
## Dataset Description
- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"fps": 10,
"features": {
"observation.images.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": false,
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 10,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.front_depth": {
"dtype": "video",
"shape": [
480,
640,
1
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": true,
"depth_unit": "mm",
"video.height": 480,
"video.width": 640,
"video.codec": "hevc",
"video.pix_fmt": "gray12le",
"video.fps": 10,
"video.channels": 1,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {
"x265-params": "lossless=1:log-level=error"
},
"video.depth_min": 0.01,
"video.depth_max": 10.0,
"video.shift": 3.5,
"video.use_log": true
}
},
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"vx",
"vy",
"vyaw",
"roll",
"pitch",
"body_height",
"move"
]
},
"observation.pad": {
"dtype": "float32",
"shape": [
4
],
"names": [
"lx",
"ly",
"rx",
"ry"
]
},
"observation.move": {
"dtype": "float32",
"shape": [
1
],
"names": [
"move"
]
},
"action": {
"dtype": "float32",
"shape": [
3
],
"names": [
"vx",
"vy",
"vyaw"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
},
"total_episodes": 50,
"total_frames": 9448,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"robot_type": "unitree_go2",
"splits": {
"train": "0:50"
}
}
```
## Citation
**BibTeX:**
```bibtex
[More Information Needed]
```
## Notes
Unitree Go2 EDU walking down an indoor hallway, RealSense D435i RGB + depth at 10 fps, instruction "Walk down the hallway." — **the same task as nullPointerExcept1on/realworld_go2_task3**, collected separately (an earlier upload of this dataset carried the wrong instruction text, fixed 2026-09-13). Recorded with the Go2's own remote controller, so **action = the measured body velocity [vx, vy, vyaw]** (dead-banded to exactly 0 at a standstill) rather than a teleoperation command; observation.pad is therefore all zeros. Recording was motion-gated: an episode starts when the robot starts walking (0.5 s of frames from just before are kept) and ends after 3 s without motion; the standing-still frames at the end were trimmed away, so every episode ends on the last moving frame. SmolVLA training variant: nullPointerExcept1on/realworld_go2_task0_smolvla. 50 episodes, 9,448 frames (2026-09-13).
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