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observation.state float32 1 1 | action list | timestamp float32 0 44 | frame_index int64 0 440 | episode_index int64 0 74 | index int64 0 15k | task_index int64 0 0 |
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1 | [
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1 | [
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1 | [
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1 | [
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1 | [
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1 | [
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1 | [
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1 | [
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1 | [
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1 | [
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1 | [
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1 | [
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1 | [
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1 | [
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End of preview. Expand in Data Studio
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.state": {
"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": {
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1
],
"names": null
},
"task_index": {
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"shape": [
1
],
"names": null
}
},
"total_episodes": 75,
"total_frames": 15010,
"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": "0:75"
}
}
Citation
BibTeX:
[More Information Needed]
Notes
Union of nullPointerExcept1on/realworld_go2_task0_smolvla (50 episodes, 9,448 frames) and nullPointerExcept1on/realworld_go2_task3_smolvla (25 episodes, 5,562 frames after trimming) — the same hallway task, instruction "Walk down the hallway.", built for a data-scaling comparison (25 vs 50 vs 75 episodes). SmolVLA format: RGB only + observation.state=[move] fixed to 1.0 + action=[vx,vy,vyaw]. The two halves differ in how they were driven: the task0 episodes were recorded with the Go2's own remote (action = measured body velocity, motion-gated recording), the task3 episodes with a DualSense through gty-teleop (action = the velocity command). The standing-still frames at the end of every episode were trimmed away. Train with --rename_map='{"observation.images.front": "observation.images.camera1"}'. 75 episodes, 15,010 frames (2026-09-13).
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