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lucen/laika-real-logs

Use this dataset
Train a policy

Joint logs from the real Laika biped: standing and walking, 50 Hz, 18 runs. LeRobotDataset, no video.

50 fpsno camerarobotlaika

Use it from Python

Close

The same download from a script or a notebook.

from lucen import Hub

hub = Hub()
hub.pull("lucen/laika-real-logs", "./laika-real-logs")

The module comes with the CLI. Python guide.

Episodes

All 18 episodes
episode 0 of 18 · 1,490 frames at 50 fps
Simulation of laika, posed from the recorded joint angles
Left legradians
Right legradians
0.000 s · frame 0 / 1490

Charted at 320 points per channel.

README

README.md

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.

TaskEpisodesTime
Stand still5227 s
Walk forward at 0.15 m/s7124 s
Walk forward698 s

"Walk forward" marks the runs whose notes give no speed.

Features

FeatureWidthWhat it holds
observation.state12Measured joint angles, in radians
action12Joint targets sent to the motors, in radians
observation.projected_gravity3Gravity in the body frame, from the IMU, as a unit vector
policy.raw_action12The policy's output before it was scaled into joint targets
log.time1Seconds since the control loop started, by the robot's clock
timestamp1Frame 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

EpisodeTaskFramesLengthRecordedFile
0Stand still1,49030.0 s2026-08-03real_stand_v0.csv
1Stand still5,203104.7 s2026-08-03real_stand_v1.csv
2Stand still1,36827.5 s2026-08-03real_stand_v1b.csv
3Stand still99420.0 s2026-08-07stand.csv
4Stand still2,23745.0 s2026-08-07stand2.csv
5Walk forward1,49130.0 s2026-08-03real_walk_v2.csv
6Walk forward53210.7 s2026-08-03real_walk_v4.csv
7Walk forward99520.0 s2026-08-03real_walk_v5.csv
8Walk forward3978.0 s2026-08-03real_v5.csv
9Walk forward at 0.15 m/s67813.6 s2026-08-03real_v7.csv
10Walk forward at 0.15 m/s2765.5 s2026-08-03real_v10_c015.csv
11Walk forward at 0.15 m/s91018.3 s2026-08-03real_v10_c015_nohead.csv
12Walk forward at 0.15 m/s1,24325.0 s2026-08-03real_v10b_c015.csv
13Walk forward at 0.15 m/s1,20924.3 s2026-08-03real_v11_c015.csv
14Walk forward at 0.15 m/s99420.0 s2026-08-03real_sweep_v8_c015_ps05.csv
15Walk forward at 0.15 m/s84216.9 s2026-08-03real_sweep_v9probe_c015.csv
16Walk forward95319.2 s2026-08-07walk1.log.csv
17Walk forward49810.0 s2026-08-07real_s1d.csv

provenance.json lists each file's SHA-256.

Use it

lucen pull lucen/laika-real-logs ./laika-real-logs