11 episodes · 10 fps · 2 cameras · 640×480 av1
This dataset was created using LeRobot.
Dataset Structure
{
"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": 11,
"total_frames": 7164,
"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": "0:11"
}
}
Citation
BibTeX:
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Notes
Go2 EDU walking forward along a road shared by pedestrians and cars, DualSense teleop (max 1.2 m/s). RGB + depth (mm, lossless HEVC), observation.state=[vx,vy,vyaw,roll,pitch,body_height,move], observation.pad=[lx,ly,rx,ry], observation.move=[move] (1 while the left stick commanded vx/vy, 0 when released), action=[vx,vy,vyaw] sport-mode Move command. 11 episodes as of 2026-09-10 (collection ongoing, target 50).
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