File size: 8,931 Bytes
419c68d 0c58610 e12dd9a ca1fe18 e12dd9a 4cf5132 7f03a1a 1e0b78e 419c68d c52a8aa 98594b5 7f03a1a 52f0d67 98594b5 7cffc8f 7f03a1a c52a8aa 7f03a1a 16d7d2f 7f03a1a 26d7239 7f03a1a f2d69d2 7f03a1a 26d7239 7f03a1a f0849b7 ca1fe18 7f03a1a 16d7d2f 7cffc8f ca1fe18 7cffc8f ca1fe18 7cffc8f ca1fe18 7cffc8f ca1fe18 7cffc8f ca1fe18 7cffc8f ca1fe18 7cffc8f ca1fe18 f0849b7 ca1fe18 f0849b7 7cffc8f ca1fe18 f0849b7 ca1fe18 f0849b7 c52a8aa 6c32275 c52a8aa ca1fe18 b0dcdb9 ca1fe18 fc654a8 c52a8aa ca1fe18 fc654a8 16d7d2f ca1fe18 7cffc8f c52a8aa ca1fe18 7cffc8f c52a8aa ca1fe18 7cffc8f c52a8aa ca1fe18 7cffc8f c52a8aa ca1fe18 a5dc898 ca1fe18 a5dc898 ca1fe18 a5dc898 ca1fe18 a5dc898 ca1fe18 a5dc898 ca1fe18 a5dc898 01271b8 ca1fe18 01271b8 ca1fe18 1ab9acb b1fe82c ca1fe18 5ec2d7f 01271b8 ca1fe18 c52a8aa 384ddd3 7cffc8f c52a8aa 52f0d67 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 |
---
license: cc-by-sa-4.0
task_categories:
- reinforcement-learning
- robotics
language:
- en
annotations_creators:
- experts-generated
tags:
- self-driving
- robotics navigation
pretty_name: FrodoBots 2K Dataset
dataset_info:
features:
- name: speed
dtype: float32
- name: angular
dtype: float32
- name: rpm_1
dtype: int32
- name: rpm_2
dtype: int32
- name: rpm_3
dtype: int32
- name: rpm_4
dtype: int32
- name: timestamp
dtype: float64
---
## Dataset Description
- **Homepage:** https://www.frodobots.ai/
- **Hours of tele-operation:** ~2,000 Hrs
- **Dataset Size:** 700+ GB
- **Point of Contact:** michael.cho@frodobots.com
# FrodoBots 2K Dataset
The **FrodoBots 2K Dataset** is a diverse collection of camera footage, GPS, IMU, audio recordings & human control data collected from more than 2,000 hours of tele-operated sidewalk robot driving in 10+ cities.
This dataset is collected from the [**Earth Rovers**](https://www.frodobots.ai/earth-rovers) game developed by [**FrodoBots Lab**](https://www.frodobots.ai).
Please join our [**Discord**](??) for discussions with fellow researchers/makers!
- If you're interested in testing out your AI models on your own Earth Rovers, you can buy your own unit(s) from our [**online shop**](https://shop.frodobots.com/) (US$299 per unit).
- If you're interested in testing out your AI models on our existing fleet of [**Earth Rovers School**](https://www.frodobots.ai/earth-rovers-school) (in Singapore, Madrid, etc), feel free to DM [Michael Cho on Twitter/X](https://twitter.com/micoolcho) to gain access to our Remote Access SDK.
- If you're interested in playing the game (ie. remotely driving an Earth Rover), you may join as a gamer at [**Earth Rovers School**](https://www.frodobots.ai/earth-rovers-school).
|  |
|:--:|
| *Earth Rover being tested in Stanford University campus* |
## Dataset Summary
There are 7 types of data that are associated with a typical FrodoBots drive, as follows:
1. **Control data**: This includes information about the robot's control inputs captured at a frequency of 10Hz (Ideal). When there is no data, it can be assumed the bot has stopped or is not in motion.
2. **GPS data**: This includes latitude, longitude, and timestamp information for each data point collected during the robot drives at a frequency of 1Hz.
3. **IMU (Inertial Measurement Unit) data**: This provides 9-degree of freedom sensor data, including acceleration (captured at 100Hz), gyroscope (captured at 1Hz), and compass ride information (captured at 1Hz), along with timestamp data.
4. **Rear camera video**: This offers video footage captured by the robot's rear-facing camera at an average of 20 frames per second (FPS) with a resolution of 540x360.
5. **Front camera video**: This consists of video footage captured by the robot's front-facing camera at an average 20 FPS with a resolution of 1024x576.
6. **Microphone**: This includes audio recordings captured by the robot's microphone, with a sample rate of 16000Hz, channel 1.
7. **Speaker**: This incorporates audio recordings of the robot's speaker output (ie. gamer's microphone), also with a sample rate of 16000Hz, channel 1.
In total, there were more than 4,000 individual driving sessions recorded, with majority of these drives under 10 minutes long, although there were also drives lasting more than an hour.
|  |
|:--:|
| *Histogram of Session Duration (minutes)* |
These drives were done with FrodoBots in over 10 cities, registering close to 1,000 hours of footages, with Liuzhou being the city with longest cumulative hours of drives.
| |
|:--:|
| *Cumulative sessions hours by city* |
Out of these 1,000 hours of recorded drive, roughly 312 hours have registered speed above 0 Km/Hr. Most of these other duration were either stationary or short pauses during a regular game drives.
| |
|:--:|
| *Distribution of robot speed (excluding zero speed)* |
## About FrodoBots
[**FrodoBots**](https://www.frodobots.com/) is an open-world video driving game where gamers remotely control sidewalk robots to complete missions in different cities (here's a video about the [robot](https://youtu.be/WZy1u7ds1wQ)).
The game objective is to complete the pre-defined navigation missions in single-player mode (see [video](https://www.youtube.com/@frodobots)) or gather digital items in the multiplayer arena mode (see [video](https://youtu.be/2E3lve-Xvak)).
|  |
|:--:|
| *Testing in Madrid* |
|  |
|:--:|
| *Testing in London* |
|  |
|:--:|
| *Testing in Stockholm* |
|  |
|:--:|
| *Testing in Wuhan* |
|  |
|:--:|
| *Testing in Liuzhou* |
|  |
|:--:|
| *Testing in Berlin* |
|  |
|:--:|
| *Game Controller + Browser = Control FrodoBots Anywhere* |
|  |
|:--:|
| *Chatting with locals via built-in microphone/speaker* |
|  |
|:--:|
| *Zero turning radius = Easy maneuvering* |
|  |
|:--:|
| *Night driving test in Palo Alto* |
|  |
|:--:|
| *Driving through rain* |
|  |
|:--:|
| *Road crossing in Palo Alto* |
## Motivations for open-sourcing the dataset
The team behind FrodoBots is focused on building an open-world video gaming experience using real-life robots (we call it "robotic gaming"). A by-product of gamers playing the game in real-life is the accompanying dataset that's generated.
By sharing this dataset with the research community, we hope to see new innovations that can be tested (via our SDK) directly on our fleet of FrodoBots, and then ultimately deployed back into our production environment in order to create a more fun and safer game.
## **Download**
Download FrodoBots dataset using the link in this [csv file](https://frodobots-1k.s3.ap-southeast-1.amazonaws.com/frodobots-1k_dataset.csv).
## **Helper code**
Download a FrodoBots dataset sample using [this link](https://frodobots-2k.s3.ap-southeast-1.amazonaws.com/frodobots-dataset-getting-started.zip).
We've provided a helpercode.ipynb file that will hopefully serve as a quick-start for researchers to play around with the dataset.
## **About our partners**
BlurIt
BlurIt is a leading solution for data anonymization. A state-of-the-art AI solution that excels at blurring sensitive details, especially faces and license plates in images and videos. This is vital when personal identifiers are in visual content. BlurIt handles data privacy so that companies can focus on their core business. Our partnership with BlurIt emphasizes the growing need to balance data use with privacy. This partnership underscores our commitment to responsible data handling and privacy protection.
## **Contributions**
The team at FrodoBots Lab created this dataset, including [Michael Cho](https://twitter.com/micoolcho), Sam Cho, Aaron Tung, Niresh Dravin & Jiamin Ho.
|