Laika real-robot logs
Joint angles, motor targets and policy outputs logged on the real Laika biped while it stood and walked. There are 18 episodes and 22,310 frames at 50 Hz. There is no video.
Where it comes from
Laika's onboard computer logged every control step while a trained policy ran the robot. It wrote one CSV file per run, between 3 and 7 August 2026. Each file is one episode here, row for row. Nothing was resampled or filtered.
| Task | Episodes | Time |
|---|---|---|
| Stand still | 5 | 227 s |
| Walk forward at 0.15 m/s | 7 | 124 s |
| Walk forward | 6 | 98 s |
"Walk forward" marks the runs whose notes give no speed.
Features
| Feature | Width | What it holds |
|---|---|---|
observation.state | 12 | Measured joint angles, in radians |
action | 12 | Joint targets sent to the motors, in radians |
observation.projected_gravity | 3 | Gravity in the body frame, from the IMU, as a unit vector |
policy.raw_action | 12 | The policy's output before it was scaled into joint targets |
log.time | 1 | Seconds since the control loop started, by the robot's clock |
timestamp | 1 | Frame index divided by 50, the clock LeRobot reads |
The three 12-wide features use the joint order of lucen/laika: l_hip_pitch_joint, l_hip_roll_joint, l_hip_yaw_joint, l_knee_joint, l_ankle_pitch_joint, l_ankle_roll_joint, r_hip_pitch_joint, r_hip_roll_joint, r_hip_yaw_joint, r_knee_joint, r_ankle_pitch_joint, r_ankle_roll_joint.
The control loop ran at close to 50 Hz. Its real step times are in
log.time.
What is missing
- No video. The robot logged no camera.
- No fall recovery. No run records Laika getting up after a fall.
- No commanded velocity. The task names the speed where the run notes give it.
- No policy name. Which policy ran is known only from the file name below.
Episodes
| Episode | Task | Frames | Length | Recorded | File |
|---|---|---|---|---|---|
| 0 | Stand still | 1,490 | 30.0 s | 2026-08-03 | real_stand_v0.csv |
| 1 | Stand still | 5,203 | 104.7 s | 2026-08-03 | real_stand_v1.csv |
| 2 | Stand still | 1,368 | 27.5 s | 2026-08-03 | real_stand_v1b.csv |
| 3 | Stand still | 994 | 20.0 s | 2026-08-07 | stand.csv |
| 4 | Stand still | 2,237 | 45.0 s | 2026-08-07 | stand2.csv |
| 5 | Walk forward | 1,491 | 30.0 s | 2026-08-03 | real_walk_v2.csv |
| 6 | Walk forward | 532 | 10.7 s | 2026-08-03 | real_walk_v4.csv |
| 7 | Walk forward | 995 | 20.0 s | 2026-08-03 | real_walk_v5.csv |
| 8 | Walk forward | 397 | 8.0 s | 2026-08-03 | real_v5.csv |
| 9 | Walk forward at 0.15 m/s | 678 | 13.6 s | 2026-08-03 | real_v7.csv |
| 10 | Walk forward at 0.15 m/s | 276 | 5.5 s | 2026-08-03 | real_v10_c015.csv |
| 11 | Walk forward at 0.15 m/s | 910 | 18.3 s | 2026-08-03 | real_v10_c015_nohead.csv |
| 12 | Walk forward at 0.15 m/s | 1,243 | 25.0 s | 2026-08-03 | real_v10b_c015.csv |
| 13 | Walk forward at 0.15 m/s | 1,209 | 24.3 s | 2026-08-03 | real_v11_c015.csv |
| 14 | Walk forward at 0.15 m/s | 994 | 20.0 s | 2026-08-03 | real_sweep_v8_c015_ps05.csv |
| 15 | Walk forward at 0.15 m/s | 842 | 16.9 s | 2026-08-03 | real_sweep_v9probe_c015.csv |
| 16 | Walk forward | 953 | 19.2 s | 2026-08-07 | walk1.log.csv |
| 17 | Walk forward | 498 | 10.0 s | 2026-08-07 | real_s1d.csv |
provenance.json lists each file's SHA-256.
Use it
lucen pull lucen/laika-real-logs ./laika-real-logs