metadata

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 game developed by FrodoBots Lab.

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 (US$299 per unit).
If you're interested in testing out your AI models on our existing fleet of Earth Rovers School (in Singapore, Madrid, etc), feel free to DM Michael Cho on Twitter/X 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.


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:

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.
GPS data: This includes latitude, longitude, and timestamp information for each data point collected during the robot drives at a frequency of 1Hz.
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.
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.
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.
Microphone: This includes audio recordings captured by the robot's microphone, with a sample rate of 16000Hz, channel 1.
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 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).

The game objective is to complete the pre-defined navigation missions in single-player mode (see video) or gather digital items in the multiplayer arena mode (see video).


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.

Helper code

Download a FrodoBots dataset sample using this link.

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, Sam Cho, Aaron Tung, Niresh Dravin & Jiamin Ho.