Upload README.md with huggingface_hub

README.md

@@ -9,6 +9,7 @@ tags:
   - teleoperation
   - autonomous-driving
   - sidewalk-robot
+  - earth-rover
   - multimodal
   - video
   - gps
@@ -20,14 +21,15 @@ size_categories:
 # 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.
+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.
 
-This is the third public FrodoBots dataset, following
+Third public FrodoBots dataset, after
 [`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.
+Like the 2K release it ships **raw, unannotated** per-ride folders — packaged here as tar shards hosted
+directly on the Hub.
 
 ## At a glance
 
@@ -35,24 +37,77 @@ tar shards hosted directly on the Hub.
 |---|---|
 | Rides | **14,141** |
 | Robots | 453 |
-| Countries | 30+ |
+| Countries | 29 |
 | 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 |
+| Size | ~2.0 TB (1,139 tar shards) |
 
-Every ride includes DRV + GPS + IMU + at least the front (or rear) camera with generated per-frame timestamps.
+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](https://github.com/frodobots-org/earth-rover-mini) ·
+[buy one](https://shop.frodobots.com/collections/earth-rovers).
+
+| 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. 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-0001.tar
   ...
-metadata.parquet            # one row per ride (see below)
+  minirover-1138.tar
+metadata.parquet            # one row per ride (includes the shard each ride lives in)
 ```
 
 Each ride folder inside a shard:
@@ -81,7 +136,7 @@ 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")
+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/
@@ -93,14 +148,15 @@ See `earth_rover_mini_dataset.ipynb` for stats, distributions, and a full "load
 ## 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.
+  FrodoBots-2K/7K. Actual recorded video is 3,231 h front / 5,140 h total (front+rear); 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
 
-Released under **CC BY-SA 4.0**, matching FrodoBots-2K and Berkeley-FrodoBots-7K. Please cite FrodoBots when using this dataset.
+Released under **CC BY-SA 4.0**, matching FrodoBots-2K and Berkeley-FrodoBots-7K. Please cite FrodoBots when
+using this dataset.