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