Upload README.md with huggingface_hub

README.md

@@ -0,0 +1,106 @@
+---
+license: cc-by-sa-4.0
+pretty_name: FrodoBots-Mini-4K
+task_categories:
+  - robotics
+  - other
+tags:
+  - robotics
+  - teleoperation
+  - autonomous-driving
+  - sidewalk-robot
+  - 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,
+collected across 30+ countries. Each ride bundles synchronized **camera video** (front, and rear when
+available), **two audio channels**, and time-aligned **GPS**, **IMU**, and **drive/control (DRV)** streams.
+
+This is the third public FrodoBots dataset, following
+[`BitRobot/FrodoBots-2K`](https://huggingface.co/datasets/BitRobot/FrodoBots-2K) and
+[`BitRobot/Berkeley-FrodoBots-7K`](https://huggingface.co/datasets/BitRobot/Berkeley-FrodoBots-7K).
+Like the 2K release it ships **raw, unannotated** per-ride folders (no task labels) — packaged here as
+tar shards hosted directly on the Hub.
+
+## At a glance
+
+| | |
+|---|---|
+| Rides | **14,141** |
+| Robots | 453 |
+| Countries | 30+ |
+| Date range | 2024-12 → 2026-07 |
+| Hours (teleoperation session time) | **3,965 h** (same metric as FrodoBots-2K/7K) |
+| Front-camera video | 3,231 h |
+| Rear-camera video | 1,909 h (73.9% of rides have a rear camera) |
+| Total camera video | 5,140 h |
+| Size | ~2.0 TB |
+
+Every ride includes DRV + GPS + IMU + at least the front (or rear) camera with generated per-frame timestamps.
+
+## Layout
+
+```
+data/
+  minirover-0000.tar        # tar shards, <= ~1.9 GB each, each holds many complete ride folders
+  minirover-0001.tar
+  ...
+metadata.parquet            # one row per ride (see below)
+```
+
+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
+
+```python
+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", f"data/{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 counts teleoperation session duration (session end − start), the same basis as
+  FrodoBots-2K/7K. Actual recorded video is 3,231 h front / 5,140 h total (front+rear); a small number of
+  sessions were left open and slightly inflate raw session time.
+- **Recordings** are de-vendored (Agora tags stripped) HLS. `.m3u8` playlists carry the wall-clock start
+  (`TIME=`) and per-segment durations; per-frame timestamps are provided 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
+
+Released under **CC BY-SA 4.0**, matching FrodoBots-2K and Berkeley-FrodoBots-7K. Please cite FrodoBots when using this dataset.