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BitRobot
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FrodoBots-Mini-4K

Tasks:
Robotics
Other
Modalities:
Video
Tags:
robotics
teleoperation
autonomous-driving
sidewalk-robot
earth-rover
multimodal
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metadata 
license: cc-by-sa-4.0
pretty_name: FrodoBots-Mini-4K
task_categories:
  - robotics
  - other
tags:
  - robotics
  - teleoperation
  - autonomous-driving
  - sidewalk-robot
  - earth-rover
  - multimodal
  - video
  - gps
  - imu
size_categories:
  - n>10K

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).

Rides by country

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.