datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
mimicgen-square-d0-light-seed42-1000-opaque-rerender-lerobotgoai_2026_lerobot_realmimicgen-square-d0-bg25-seed42-1000-opaque-rerender-lerobotintern-seal-lerobot
seal: robot demonstrations
Instruction: Pick up the stamp from the ink pad, stamp inside the outlined rectangle on the paper, and return the stamp to the ink pad.
LeRobot v3.0 dataset: 110 episodes, 81892 frames, nominal 30 Hz.
Robot schema: intern_gello_7dof_robotiq. Original source recordings are retained by the owner.
Use
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("cloudfan/intern-seal-lerobot"… See the full description on the dataset page: https://huggingface.co/datasets/cloudfan/intern-seal-lerobot.intern-bottle-lerobot
bottle: robot demonstrations
Instruction: Grasp the neck of the bottle lying on its side and stand it upright on the blue mat.
LeRobot v3.0 dataset: 100 episodes, 49929 frames, nominal 30 Hz.
Robot schema: intern_gello_7dof_robotiq. Original source recordings are retained by the owner.
Use
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("cloudfan/intern-bottle-lerobot", video_backend="torchcodec")
sample = dataset[0]… See the full description on the dataset page: https://huggingface.co/datasets/cloudfan/intern-bottle-lerobot.intern-screw-lerobot
screw: robot demonstrations
Instruction: Unscrew the cap from the bottle held by the person and place the cap on the table.
LeRobot v3.0 dataset: 50 episodes, 31960 frames, nominal 30 Hz.
Robot schema: intern_gello_7dof_robotiq. Original source recordings are retained by the owner.
Use
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("cloudfan/intern-screw-lerobot", video_backend="torchcodec")
sample = dataset[0]… See the full description on the dataset page: https://huggingface.co/datasets/cloudfan/intern-screw-lerobot.mobile-aloha-cabinet-episode0-lerobot-v3
79.5 MB Mobile ALOHA HDF5 → 3-camera LeRobot v3
Before → after: a native Mobile ALOHA episode with nested robot signals and three padded-JPEG camera arrays becomes a validated, multimodal LeRobot v3.0 dataset. Convert ALOHA HDF5 free →
Community conversion produced by ViaCatalyst BYOD. This repository is not an official upstream release and is not affiliated with the Mobile ALOHA authors or the source-mirror maintainer.
This is a provenance-complete conversion of one pinned… See the full description on the dataset page: https://huggingface.co/datasets/ViaCatalyst/mobile-aloha-cabinet-episode0-lerobot-v3.carrot_in_pot_lighting_lerobot_v3
carrot_in_pot_lighting — UR7e teleoperation under added lighting (LeRobot v3.0)
Joint-space imitation-learning dataset with 65 human teleoperation episodes of a UR7e arm
putting a plastic carrot into a pot, recorded from two 720p RGB cameras. This is a new,
separate collection from Bigenlight/carrot_in_pot_lerobot_v3.
Task scene captured on 2026-09-18. The two visible softbox lights are the added-lighting setup
used during this collection.
65 episodes · 20,472 frames · 30 fps… See the full description on the dataset page: https://huggingface.co/datasets/Bigenlight/carrot_in_pot_lighting_lerobot_v3.robomimic-lift-ph-lerobot-v3
robomimic HDF5 → verified LeRobot v3 episodes
Before → after: raw robomimic HDF5 demonstrations become validated LeRobot v3.0 episodes while original actions and episode boundaries are retained. Convert HDF5 free →
Community conversion produced by ViaCatalyst BYOD. This repository is not an official upstream release and is not affiliated with the robomimic authors.
This is a compact, provenance-complete conversion of the first 10 episodes from the pinned robomimic Lift PH… See the full description on the dataset page: https://huggingface.co/datasets/ViaCatalyst/robomimic-lift-ph-lerobot-v3.intern-debug-lerobot
debug: robot demonstrations
Instruction: Nest the three paper cups together into a single stack.
LeRobot v3.0 dataset: 51 episodes, 43257 frames, nominal 30 Hz.
Robot schema: intern_gello_7dof_robotiq. Original source recordings are retained by the owner.
Use
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("cloudfan/intern-debug-lerobot", video_backend="torchcodec")
sample = dataset[0]
print(sample["task"]… See the full description on the dataset page: https://huggingface.co/datasets/cloudfan/intern-debug-lerobot.mimicgen-square-d0-lerobot-v3
1.62 GB MimicGen HDF5 → multimodal LeRobot v3
Before → after: HDF5 demonstrations with two RGB streams become a validated, multimodal LeRobot v3.0 subset. Convert HDF5 free →
Community conversion produced by ViaCatalyst BYOD. This repository is not an official upstream release and is not affiliated with the MimicGen authors.
This is a compact, provenance-complete conversion of the first 10 episodes from the pinned MimicGen Square D0 core HDF5 file. It provides a… See the full description on the dataset page: https://huggingface.co/datasets/ViaCatalyst/mimicgen-square-d0-lerobot-v3.abc130k-screwdriver-mcap-lerobot-v3
ABC-130k MCAP → validated LeRobot v3 telemetry
Before → after: raw MCAP telemetry becomes a documented LeRobot v3.0 episode with preserved state/action mappings, provenance, and reader validation. Convert your MCAP free →
Community conversion produced by ViaCatalyst BYOD. This repository is not an official upstream release and is not affiliated with ABC-130k or Voxel51.
This is a provenance-complete conversion of one pinned MCAP episode from Voxel51's Apache-2.0 repackaging… See the full description on the dataset page: https://huggingface.co/datasets/ViaCatalyst/abc130k-screwdriver-mcap-lerobot-v3.robomimic-can-ph-lerobot-v3
RoboTurk Can PH HDF5 → verified LeRobot v3 episodes
Before → after: nested RoboTurk/robomimic HDF5 demonstrations become validated LeRobot v3.0 episodes while original actions and episode boundaries are retained. Convert robomimic HDF5 free →
Community conversion produced by ViaCatalyst BYOD. This repository is not an official upstream release and is not affiliated with the robomimic or RoboTurk authors.
This is a compact, provenance-complete conversion of the first 10… See the full description on the dataset page: https://huggingface.co/datasets/ViaCatalyst/robomimic-can-ph-lerobot-v3.intern-pour-lerobot
pour: robot demonstrations
Instruction: Pick up the small glass cup by its handle, pour the water into the large beaker, and place the cup back on the table.
LeRobot v3.0 dataset: 51 episodes, 44042 frames, nominal 30 Hz.
Robot schema: intern_gello_7dof_robotiq. Original source recordings are retained by the owner.
Use
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("cloudfan/intern-pour-lerobot", video_backend="torchcodec")… See the full description on the dataset page: https://huggingface.co/datasets/cloudfan/intern-pour-lerobot.bowl_stack_lighting_lerobot_v3
Bowl stack with additional lighting — LeRobot v3.0
Task: Stack the orange bowl on the purple bowl.
UR7e + GELLO teleoperation demonstrations: grasp the orange bowl with the gripper and place it on top of the purple bowl.
Task scene captured on 2026-09-18. The two visible softbox lights are the additional-lighting setup used during collection.
Collection condition
Additional task lighting was installed and used throughout this 2026-09-18 collection. This is a… See the full description on the dataset page: https://huggingface.co/datasets/Bigenlight/bowl_stack_lighting_lerobot_v3.intern-shiguan-lerobot
shiguan: robot demonstrations
Instruction: Pick up the test tube from the left side of the rack and insert it into the hole at the right end of the rack.
LeRobot v3.0 dataset: 51 episodes, 26665 frames, nominal 30 Hz.
Robot schema: intern_gello_7dof_robotiq. Original source recordings are retained by the owner.
Use
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("cloudfan/intern-shiguan-lerobot", video_backend="torchcodec")… See the full description on the dataset page: https://huggingface.co/datasets/cloudfan/intern-shiguan-lerobot.maniskill-pickcube-motionplanning-lerobot-v3
ManiSkill PickCube motion-planning — verified LeRobot v3 reference subset
Need to turn your own raw robotics data into LeRobot v3.0? Start a free conversion →
Community conversion produced by ViaCatalyst BYOD. This repository is not an official upstream release and is not affiliated with the ManiSkill authors.
This is a compact, provenance-complete conversion of the first 10 trajectories in the pinned ManiSkill PickCube-v1 motion-planning HDF5 file. It is a reproducible… See the full description on the dataset page: https://huggingface.co/datasets/ViaCatalyst/maniskill-pickcube-motionplanning-lerobot-v3.vlabench_primitive_ft_lerobot_video
VLABench Primitive Tasks — LeRobot v3.0 (TsFile)
Apache TsFile version of VLABench/vlabench_primitive_ft_lerobot_video.
Overview
This dataset is organized in the LeRobot v3.0 format and is used for integrating VLABench into the LeRobot framework officially. Compared with the v2.0 and the RLDS versions, this release stores the visual observations in a video-compressed format rather than as individual image files, giving better storage efficiency and data-loading… See the full description on the dataset page: https://huggingface.co/datasets/THULab/vlabench_primitive_ft_lerobot_video.bowl_stack_triple_lerobot_v3
Triple bowl stacking — LeRobot v3.0
Task: stack the orange bowls and place them into the purple bowl
Stack the two orange bowls together, then place them into the purple bowl. Collected on 2026-09-19 using UR7e, GELLO and a Robotiq gripper with two RGB cameras.
The collector supplied this photograph as the task overview. Original filename: 20260919_200321(1).jpg.
Contents
60 episodes; 36,030 cam1 master frames at 30 FPS; approximately 20 minutes. Raw cam2 has 36… See the full description on the dataset page: https://huggingface.co/datasets/Bigenlight/bowl_stack_triple_lerobot_v3.cube_stack_lerobot_v3
Cube stack — lerobot_v3
Task: stack the red cube on the blue cube
UR7e/GELLO cube-stacking recordings collected on 2026-09-19. Place the red cube on top of the blue cube.
This preview is extracted from take_01_20260919_212809/cam1.mp4; it is not a separate setup photograph or an outcome label.
Contents
60 episodes / 20,177 cam1 master frames at 30 FPS (about 11.2 minutes). Two 1280×720 RGB cameras (cam1 scene, cam2 wrist); no depth. State/action each contain six… See the full description on the dataset page: https://huggingface.co/datasets/Bigenlight/cube_stack_lerobot_v3.roboturk_lerobot
RoboTurk (Sawyer) (TsFile)
Apache TsFile version of IPEC-COMMUNITY/roboturk_lerobot.
Overview
RoboTurk is a large-scale robot manipulation dataset of human teleoperation
demonstrations collected on a Sawyer robot arm, distributed here as part of the
Open X-Embodiment collection in the LeRobot v2.1 format. Each record is one
control frame within a demonstration episode, holding the robot's 8-D
proprioceptive state and the 7-D end-effector action.
Scale: 1,796… See the full description on the dataset page: https://huggingface.co/datasets/THULab/roboturk_lerobot.put_drivers_in_bin_lerobot
Put Drivers In Bin (TsFile)
Apache TsFile version of IMsubin/put_drivers_in_bin.
Overview
A robot-arm manipulation dataset in the LeRobot v2.1 format, recorded on an
omx_f arm. The single task is to put drivers (screwdrivers) into a bin. Each
record is one control frame within a demonstration episode, holding the arm's
joint state and the commanded joint action.
Scale: 256 episodes, 244,580 frames total (≈ 955 frames per episode on average).
Sampling rate: 30… See the full description on the dataset page: https://huggingface.co/datasets/THULab/put_drivers_in_bin_lerobot.dino_wm_pusht_noise_2k_lerobot
DINO-WM PushT (noise 2k) (TsFile)
Apache TsFile version of neiltan/dino-wm-pusht-noise-2k.
Overview
A PushT (planar block-pushing) demonstration dataset in the LeRobot v2.1 format,
of the kind used to train and evaluate DINO-WM-style world models. In the PushT
task an agent pushes a T-shaped block to a fixed goal pose; this collection
contains 2,000 noisy demonstration episodes of that single task.
Each record is one control frame within an episode: the 2-D… See the full description on the dataset page: https://huggingface.co/datasets/THULab/dino_wm_pusht_noise_2k_lerobot.ur5e_pick_red_cube_lerobot
UR5e Pick Red Cube (TsFile)
Apache TsFile version of tlpss/ur5e-pick-red-cube.
Overview
A UR5e robot-arm manipulation dataset in the LeRobot v2.1 format. The single task
is to pick up a red cube and place it on a blue square. Each record is one control
frame within a demonstration episode, holding the robot's proprioceptive state,
the commanded action, and per-step reward / success flags.
Scale: 103 episodes, 13,567 frames total (≈ 132 frames per episode on… See the full description on the dataset page: https://huggingface.co/datasets/THULab/ur5e_pick_red_cube_lerobot.robocasa_v01_cosmos_lerobotLerobot_Industrial_Inspection_Robot_Datasetslerobot_mujoco_so100