Datasets:

BitRobot
/

FrodoBots-Mini-4K

Exception:    SplitsNotFoundError
Message:      The split names could not be parsed from the dataset config.
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
                  for split_generator in builder._split_generators(
                                         ~~~~~~~~~~~~~~~~~~~~~~~~~^
                      StreamingDownloadManager(base_path=builder.base_path, download_config=download_config)
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 83, in _split_generators
                  raise ValueError(
                  ...<2 lines>...
                  )
              ValueError: The TAR archives of the dataset should be in WebDataset format, but the files in the archive don't share the same prefix or the same types.
              
              The above exception was the direct cause of the following exception:
              
              Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 66, in compute_split_names_from_streaming_response
                  for split in get_dataset_split_names(
                               ~~~~~~~~~~~~~~~~~~~~~~~^
                      path=dataset,
                      ^^^^^^^^^^^^^
                      config_name=config,
                      ^^^^^^^^^^^^^^^^^^^
                      token=hf_token,
                      ^^^^^^^^^^^^^^^
                  )
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
                  info = get_dataset_config_info(
                      path,
                  ...<6 lines>...
                      **config_kwargs,
                  )
                File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
                  raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
              datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.

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FrodoBots-Mini-4K

~4,000 hours of real-world teleoperation data from Earth Rover Mini / Mini+ sidewalk robots, driven by a global operator network across 29 countries. Each ride bundles synchronized camera video (front, and rear when available), two-way audio, and time-aligned GPS, IMU, and drive/control (DRV) streams.

Third public FrodoBots dataset, after BitRobot/FrodoBots-2K and BitRobot/Berkeley-FrodoBots-7K. Like the 2K release it ships raw, unannotated per-ride folders — packaged here as tar shards hosted directly on the Hub.

At a glance


Rides	14,141
Robots	453
Countries	29
Date range	2024-12 → 2026-07
Hours (teleoperation session time)	3,965 h
Front-camera video	3,231 h
Rear-camera video	1,909 h (73.9% of rides have a rear camera)
Size	~2.0 TB (1,139 tar shards)

Every ride includes DRV + GPS + IMU + at least one camera with generated per-frame timestamps.

The robot — Earth Rover Mini / Mini+

A compact, low-cost teleoperated sidewalk rover. Hardware is open: github.com/frodobots-org/earth-rover-mini · buy one.

Subsystem	Spec
Compute host	Rockchip RV1106G3, 256 MB DDR, 128 MB NAND, Linux
Microcontroller	STM32F407 (RT-Thread RTOS), closed-loop PID motor control
Cameras	Front + optional rear, H.264 HLS, adaptive up to 1280×720 (commonly 1024×576 / 480×270), ~20 fps, ~16 s segments
Audio	Two-way — robot microphone + operator speaker
IMU	MPU-6050 (3-axis accelerometer + 3-axis gyroscope) + magnetometer / compass
Positioning	Onboard GNSS (latitude, longitude; raw stream also carries altitude, HDOP, fix quality, speed)
Drivetrain	4 wheels / 4 motor channels; commanded by linear + angular velocity (UART Control Protocol)
Connectivity	4G/LTE (Quectel modem) + Wi-Fi AP
Battery	18650 cells, 6000 mAh
Firmware in this set	HW versions 6.0.x – 6.2.x

How the sensors map to the data

Robot component	File / columns
Motor command (linear/angular velocity) + 4 wheel RPMs	`control_data_*.csv` → `linear, angular, rpm_1..4`
GNSS	`gps_data_*.csv` → `latitude, longitude`
MPU-6050 + magnetometer	`imu_data_*.csv` → `compass, accelerometer, gyroscope`
Front / rear camera	`recordings/_video.` + `front/rear_camera_timestamps_*.csv`
Mic / speaker	`recordings/_audio.` + `mic/speaker_audio_timestamps_*.csv`

Geographic distribution

Driven by a worldwide operator network across 29 countries. Country is from the robot registry (96% of rides have a known country; the rest are Unknown).

Country	Rides	Hours
China	4,314	516
Philippines	4,180	1,344
United States	1,484	818
Vietnam	1,483	759
India	404	127
Kenya	288	44
Mexico	189	34
Taiwan	185	18
New Zealand	163	17
Panama	113	18
Canada	111	27
Costa Rica	88	11

…plus Malaysia, UK, Germany, Botswana, Australia, Brazil, Mauritius, Indonesia, Sweden, Turkey, Nigeria, Chile, Argentina, Estonia, Netherlands, Singapore, Japan. Top cities include Antipolo City (PH), Wuhan (CN), Kon Tum (VN), Chandler (US), Bengaluru (IN), and Machakos (KE).

Layout

data/
  minirover-0000.tar        # tar shards, <= ~1.9 GB each, each holds many complete ride folders
  ...
  minirover-1138.tar
metadata.parquet            # one row per ride (includes the shard each ride lives in)

Each ride folder inside a shard:

ride_<rideId>_<botRef>_<UTCstart>/
  control_data_<id>.csv              # DRV: linear, angular, rpm_1..4, timestamp (epoch SECONDS)
  gps_data_<id>.csv                  # latitude, longitude, timestamp (epoch MS); (1000,1000)=no fix
  imu_data_<id>.csv                  # compass, accelerometer, gyroscope (JSON arrays), timestamp (MS)
  front_camera_timestamps_<id>.csv   # frame_id, timestamp (epoch SECONDS)
  rear_camera_timestamps_<id>.csv    # present when a rear stream exists
  mic_audio_timestamps_<id>.csv      # robot microphone
  speaker_audio_timestamps_<id>.csv  # operator speaker
  recordings/                        # HLS: *.ts segments + *.m3u8 playlists (front/rear video, audio)

metadata.parquet columns: folder, ride_id, device_ref_id, start_utc, source, db_dur_sec, n_epochs, hardware_version, drive_mode, country, city, front_footage_sec, rear_footage_sec, has_rear_camera, has_control, has_gps, has_imu, has_front_ts, has_rear_ts, has_mic_ts, has_speaker_ts, shard.

Usage

from huggingface_hub import hf_hub_download
import pandas as pd, tarfile

meta = pd.read_parquet(hf_hub_download("BitRobot/FrodoBots-Mini-4K", "metadata.parquet", repo_type="dataset"))
row = meta.iloc[0]
shard = hf_hub_download("BitRobot/FrodoBots-Mini-4K", row.shard, repo_type="dataset")
with tarfile.open(shard) as t:
    t.extractall("out", members=[m for m in t.getmembers() if m.name.startswith(row.folder)])
# -> out/<ride folder>/ with CSVs + recordings/

See earth_rover_mini_dataset.ipynb for stats, distributions, and a full "load one ride" example (aligning a camera frame to its GPS/IMU/DRV readings).

Notes

Hours: the headline (~4,000 h) counts teleoperation session duration (session end − start). Actual recorded front-camera video is 3,231 h (rear adds 1,909 h more); a few sessions were left open and slightly inflate raw session time.
Recordings are de-vendored HLS. .m3u8 playlists carry the wall-clock start (TIME=) and per-segment durations; per-frame timestamps are in the *_timestamps_*.csv files.
GPS retains (1000,1000) rows meaning "no fix" — filter these out before use.
country is from the robot registry; robots without an entry are Unknown.
Audio-only sessions (camera never streamed) are excluded.

License

The public FrodoBots-Mini-4K dataset is released under the CC BY-SA 4.0 license. If you're interested in additional datasets similar to FrodoBots-Mini-4K, be it for commercial or academic purposes, please contact us.

Citation

If you use this dataset, please cite:

@misc{frodobots_mini_4k_2026,
  title={FrodoBots-Mini-4K: Earth Rover Mini Teleoperation Dataset},
  author={BitRobot},
  year={2026},
  howpublished={\url{https://huggingface.co/datasets/BitRobot/FrodoBots-Mini-4K}}
}

Commercial Access and Custom Data

For additional coverage, commercial rights, evaluation data, or custom data collection, please contact us.

Contributions

The team at BitRobot created this dataset, including Michael Cho and Santiago Pravisani.

Downloads last month: 45

Total file size:

2.14 TB