kanishqgandharv/

olsd-v0.1

A unified benchmark dataset for legged robot locomotion across diverse morphologies.

OLSD provides expert, random, and domain-randomized trajectories for training and evaluating locomotion policies. All data is collected from MuJoCo/Gymnasium environments.

Metric Value

Total Episodes ~4,200

Total Steps ~2,722,712

Robots HalfCheetah, Ant, Walker2d, Hopper

Quality Tiers random, expert… See the full description on the dataset page: https://huggingface.co/datasets/kanishqgandharv/olsd-v0.1.