Datasets:
index int64 0 2.72M | episode_index int64 0 4.2k | frame_index int64 0 999 | timestamp float64 0 20 | observation.joint_positions listlengths 3 8 | observation.joint_velocities listlengths 3 8 | action listlengths 3 8 | action.control_mode stringclasses 1
value | reward float64 -4.8 8.41 | done bool 2
classes | truncated bool 2
classes | robot_id stringclasses 4
values | morphology stringclasses 3
values | terrain_type stringclasses 1
value | source stringclasses 1
value |
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End of preview. Expand in Data Studio
Open Locomotion Skills Dataset (OLSD) v0.1
A unified benchmark dataset for legged robot locomotion across diverse morphologies.
Dataset Description
OLSD provides expert, random, and domain-randomized trajectories for training and evaluating locomotion policies. All data is collected from MuJoCo/Gymnasium environments.
| Metric | Value |
|---|---|
| Total Episodes | ~4,200 |
| Total Steps | ~2,722,712 |
| Robots | HalfCheetah, Ant, Walker2d, Hopper |
| Quality Tiers | random, expert, domain_random |
| Format | Parquet + metadata JSON |
Benchmark Results
| Robot | Algorithm | Norm. Score | Return |
|---|---|---|---|
| Hopper | PPO | 108.4 | 3,507.9 |
| Walker2d | SAC | 107.3 | 4,928.5 |
| Ant | PPO | 29.7 | 1,733.2 |
| HalfCheetah | PPO | 18.0 | 1,955.4 |
Usage
from datasets import load_dataset
# Load the full dataset
ds = load_dataset("kanishqgandharv/olsd-v0.1")
# Or load a specific robot
ds = load_dataset("kanishqgandharv/olsd-v0.1", data_files="halfcheetah/**/*.parquet")
Or with the OLSD SDK:
import olsd
dataset = olsd.load("./data/olsd-v0.1-final")
print(dataset.summary())
Data Schema
Each row contains:
observation.joint_positions-- Joint angles (rad)observation.joint_velocities-- Joint velocities (rad/s)action-- Motor commandsreward-- Reward signaldone-- Terminal flag
Links
License
Apache 2.0
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