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 — open-source Vision-Language-Action model for humanoid whole-body control.

Total Neon dataset collection: 175K episodes across 9 datasets (~1.4GB)