Full dataset: synthetic MuJoCo renders + composites + negatives + labeled real press photos

README.md

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+---
+license: apache-2.0
+task_categories:
+- object-detection
+size_categories:
+- 2K<n<10K
+pretty_name: Microduck Detection Dataset
+tags:
+- object-detection
+- robotics
+- microduck
+- pollen-robotics
+- yolo
+---
+
+# Microduck Detection Dataset
+
+Single-class object detection dataset (class `0` = `microduck`, the 25 cm biped robot duck announced by Pollen Robotics / Hugging Face on 2026-08-27) in YOLO format, built to train a tiny (<5M param) detector.
+
+## Composition
+
+- **Synthetic scene renders (train ~1,040 / val ~60):** the robot from the open-source MuJoCo model in [`pollen-robotics/microduck_rl`](https://github.com/pollen-robotics/microduck_rl) (full visual-mesh model, `scene_allcollisions.xml`), rendered headlessly with randomized pose (STAND/SIT/FOLD keyframes + joint noise + yaw), all four official colorways (Cream/Graphite/Lavender/Sky), camera distance/azimuth/elevation/FOV, lighting and floor color. Boxes are **exact**, obtained by projecting all 140 robot-body geom meshes into the camera.
+- **Synthetic composites (train ~655 / val ~45):** the robot cutout (segmented by a robotless render diff, feathered edges) pasted onto ~220 CC0 background photos (picsum.photos) with random scale, position, flip, brightness, 12% occlusion rectangles. Boxes are pixel-exact from the pasted alpha mask.
+- **Synthetic negatives (train ~225 / val ~20):** empty floor renders and background-only images with empty labels.
+- **Real press-kit photos (8 train, 4 val):** 13 official launch photos from the [Pollen Robotics microduck press kit](https://pollen-robotics.com/microduck/press-kit/), pre-labeled by an ensemble of two zero-shot detectors (OWLv2 ∩ Grounding DINO, IoU≥0.35 agreement), threshold ≥0.4 (team photo keeps 2 boxes at ≥0.25 — it shows two robots). Train real photos are duplicated 15x to balance against the synthetic majority. `microduck-skate.jpg` had no confident box and is excluded from labels (kept for qualitative checks).
+
+## Splits
+
+| split | images |
+|---|---|
+| train | 2,048 |
+| val | 134 |
+
+## Files
+
+- `images/{train,val}/*.jpg`, `labels/{train,val}/*.txt` (YOLO: `class cx cy w h`, normalized)
+- `data.yaml`, `gen_meta.json` (per-sample generation parameters)
+
+## Caveats
+
+- Synthetic robot appearance comes from the open-source MuJoCo mesh model; real-photo coverage is only the 13 press photos, so expect the remaining gap to be real-world variation.
+- Zero-shot labels on the 4 real val images are model-ensemble-verified but not human-verified; treat real-photo mAP as approximate.

data.yaml

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+train: images/train
+val: images/val
+nc: 1
+names: [microduck]