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---
license: mit
task_categories:
- robotics
language:
- en
tags:
- robotics
- humanoid
- reinforcement_learning
size_categories:
- n<1K
---
# Booster T1 Dataset
The **Booster T1 Dataset** is a collection of motion and control data capturing a humanoid robot (Booster T1) performing a diverse set of soccer-related actions. These include skills necessary for robot soccer such as kicking, dribbling, and goal kicks.
This dataset is designed to support research in **robot soccer, reinforcement learning, motion planning, imitation learning, and control of bipedal robots** in dynamic, contact-rich environments.
---
## Dataset Details
### Dataset Description
- **Curated by:** ArenaX Labs
- **License:** MIT
- **Format:** `.npz` files containing robot kinematic and dynamic states
- **Purpose:** Provide expert demonstrations and trajectories for training and benchmarking soccer-playing humanoid robots.
---
## Uses
### Direct Use
- Training reinforcement learning and imitation learning policies.
- Motion planning and control benchmarking for humanoid soccer.
- Studying dynamic skills like ball-kicking, goal-kicking, and repositioning.
- Curriculum learning: starting from balance and stepping, progressing to soccer maneuvers.
### Out-of-Scope Use
- Human motion modeling or biomechanical studies (data is robot-specific).
- Applications outside robotics locomotion and soccer (e.g., medical or sensitive domains).
- Any use that attempts to infer personal, demographic, or identity-related data (not present in this dataset).
---
## Dataset Structure
Each `.npz` file contains the following arrays:
- **qpos**: Concatenated positions (root position, root orientation quaternion, and DOF positions).
- **qvel**: Concatenated velocities (linear velocity, angular velocity, and DOF velocities).
- **xpos, xquat, cvel, subtree_com, site_xpos, site_xmat**: Currently placeholder arrays (`zeros`) reserved for extended features such as body/site positions and COM.
- **split_points**: Start and end indices for trajectory segmentation.
- **joint_names**: Names of robot joints.
- **frequency**: Target control frequency of the recorded trajectory.
- **njnt**: Number of joints.
- **jnt_type**: Joint types (0 = root, 3 = hinge).
- **body_names, site_names, metadata**: Reserved metadata placeholders.
- **body_*** and **site_*** arrays: Empty placeholders for MuJoCo-style body/site information (position, orientation, weld IDs, etc.).
This structure allows loading trajectories directly into MuJoCo-compatible formats for playback or analysis.
---
## Dataset Creation
### Curation Rationale
The dataset was created to provide a standardized benchmark of soccer-related skills for humanoid robots, facilitating progress in robotic soccer research.
### Recommendations
- Use as a **benchmark for policy learning** rather than as a standalone dataset for generalization.
- Combine with simulated data augmentation for robustness.
---
## Citation
If you use this dataset, please cite as:
**BibTeX**
```bibtex
@dataset{arenax2025booster,
title = {Booster T1 Dataset},
author = {ArenaX Labs},
year = {2025},
publisher = {Hugging Face},
url = {https://huggingface.co/datasets/SaiResearch/booster_dataset}
}
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