Duplicate from SaiResearch/booster_dataset

Co-authored-by: SAI Research <[email protected]>

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README.md

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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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