---
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).