cagataydev/neon-wholebody-nav-15k

--- license: mit task_categories: - robotics tags: - neon - vla - humanoid - g1 - navigation - whole-body - loco-manipulation size_categories: - 10K<n<100K --- # neon-wholebody-nav-15k **Whole-body navigation + manipulation** — 15K episodes of 32-DoF joint trajectories combining locomotion and arm control. ## Description Each episode has **two phases**: 1. **Navigation phase**: Walking/turning with sinusoidal gait (locomotion commands active, arms swing naturally) 2. **Manipulation phase**: Arms execute task while legs maintain stance (locomotion stops) Smooth phase blending ensures realistic transitions from walking to reaching. Tasks include: - Walk to location AND pick up object - Navigate through space AND interact - Locomotion + bimanual coordination Each episode contains: - `language_instruction`: Natural language task with navigation + manipulation - `actions`: JSON array of joint trajectories (T × 32: 29 body + 3 locomotion) - `nav_phase_length`: Timesteps in navigation phase - `manip_phase_length`: Timesteps in manipulation phase ## Part of Neon VLA Training data for [Neon](https://github.com/cagataycali/neon) — open-source Vision-Language-Action model for humanoid whole-body control. Total Neon dataset collection: **175K episodes across 9 datasets (~1.4GB)**