| --- |
| 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). |
| |
