nullPointerExcept1on/realworld_go2_task0_smolvla

This dataset was created using LeRobot.

Dataset Structure

meta/info.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.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": {
            "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:

[More Information Needed]

Notes

SmolVLA training variant of nullPointerExcept1on/realworld_go2_task0: RGB only + observation.state=[move] + action=[vx,vy,vyaw]. Unitree Go2 EDU walking down an indoor hallway — the same task and instruction ("Walk down the hallway.") as nullPointerExcept1on/realworld_go2_task3, collected separately. As in the task2/task3 variants, observation.state=[move] is fixed to 1.0 in every frame (no stop/go hint; the policy must decide from the image alone). Recorded with the Go2's own remote controller, so action is the measured body velocity (dead-banded to exactly 0 at a standstill), not a teleoperation command. 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. Train with --rename_map='{"observation.images.front": "observation.images.camera1"}'. 50 episodes, 9,448 frames (2026-09-13).