datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
who-is-alyx-testFranka_place_container_plateThis dataset was created using LeRobot.
Dataset Description
Franka Dual-Arm Place Container Plate Dataset
Move the container to the plate.
Hardware
Robot: 2× Franka Emika Panda (7-DOF dual-arm setup)
Cameras: 3× Intel RealSense D435 (256×256 RGB, front + wrist views)
State Space (38 dimensions)
Left Arm (19 dimensions):
tcp_pose (6): End-effector pose [x, y, z, roll, pitch, yaw] in meters and radians
tcp_vel (6): End-effector… See the full description on the dataset page: https://huggingface.co/datasets/CSCSXX/Franka_place_container_plate.pick_place_cube_1.17This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 50,
"total_frames": 10716,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/CSCSXX/pick_place_cube_1.17.Franka_beat_block_hammerThis dataset was created using LeRobot.
Dataset Description
Franka Dual-Arm Beat Block Hammer Dataset
Pick the hammer and strike the block.
Hardware
Robot: 2× Franka Emika Panda (7-DOF dual-arm setup)
Cameras: 3× Intel RealSense D435 (256×256 RGB, front + wrist views)
State Space (38 dimensions)
Left Arm (19 dimensions):
tcp_pose (6): End-effector pose [x, y, z, roll, pitch, yaw] in meters and radians
tcp_vel (6): End-effector… See the full description on the dataset page: https://huggingface.co/datasets/CSCSXX/Franka_beat_block_hammer.Franka_adjust_bottleThis dataset was created using LeRobot.
Dataset Description
Franka Dual-Arm Adjust Bottle Dataset
Lift the bottle head-up from the table.
Hardware
Robot: 2× Franka Emika Panda (7-DOF dual-arm setup)
Cameras: 3× Intel RealSense D435 (256×256 RGB, front + wrist views)
State Space (66 dimensions)
Left Arm (33 dimensions):
tcp_pose (6): End-effector pose [x, y, z, roll, pitch, yaw] in meters and radians
tcp_vel (6): End-effector… See the full description on the dataset page: https://huggingface.co/datasets/CSCSXX/Franka_adjust_bottle.test-repopick_place_cube_1.18This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 50,
"total_frames": 16491,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/CSCSXX/pick_place_cube_1.18.eval_act_cs_30_as_30_pick_place_cube_1.17_ckpt10This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 10,
"total_frames": 6592,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:10"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/CSCSXX/eval_act_cs_30_as_30_pick_place_cube_1.17_ckpt10.eval_act_cs_100_as_100_pick_place_cube_1.17_ckpt8This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 10,
"total_frames": 7074,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:10"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/CSCSXX/eval_act_cs_100_as_100_pick_place_cube_1.17_ckpt8.eval_act_cs_100_as_100_pick_place_cube_1.18_ckpt3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 10,
"total_frames": 4158,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:10"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/CSCSXX/eval_act_cs_100_as_100_pick_place_cube_1.18_ckpt3.Franka_place_containter_plateThis dataset was created using LeRobot.
Dataset Description
Franka Dual-Arm Franka Place Containter Plate Dataset
Move the container to the plate.
Hardware
Robot: 2× Franka Emika Panda (7-DOF dual-arm setup)
Cameras: 3× Intel RealSense D435 (256×256 RGB, front + wrist views)
State Space (38 dimensions)
Left Arm (19 dimensions):
tcp_pose (6): End-effector pose [x, y, z, roll, pitch, yaw] in meters and radians
tcp_vel (6):… See the full description on the dataset page: https://huggingface.co/datasets/CSCSXX/Franka_place_containter_plate.Franka_place_container_plate_30_trajs_260321This dataset was created using LeRobot.
Dataset Description
Franka Single-Arm Place Container Plate Dataset
Move the container to the plate.
Hardware
Robot: 1× Franka Emika Panda (7-DOF each)
Cameras: Intel RealSense D435 RGB views (front + wrist)
State Space (33 dimensions)
Left Arm (33 dimensions):
tcp_force (3): [tcp_force_x, tcp_force_y, tcp_force_z]
gripper_pose (1): [gripper_pose]
joint_pos (7): [q0, q1, q2, q3, q4, q5, q6]… See the full description on the dataset page: https://huggingface.co/datasets/CSCSXX/Franka_place_container_plate_30_trajs_260321.franka_dataset_testThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 1,
"total_frames": 382,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:1"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/CSCSXX/franka_dataset_test.Franka_blocks_ranking_rgb_106_trajs_260426This dataset was created using LeRobot.
Dataset Description
Converted from raw Franka recordings into LeRobot v3.0 format.
Summary
Field
Value
Repo ID
CSCSXX/Franka_blocks_ranking_rgb_106_trajs_260426
Robot
franka
Target FPS
10
Episodes
106
Frames
62497
Tasks
Set the red block, the green block, and the blue block side by side in the order of red, green, then blue.
Convert Config
.\configs\PKU_2613\convert_blocks_ranking_rgb.yaml
Raw… See the full description on the dataset page: https://huggingface.co/datasets/CSCSXX/Franka_blocks_ranking_rgb_106_trajs_260426.Franka_place_container_plate_90_trajs_260411This dataset was created using LeRobot.
Dataset Description
Converted from raw Franka recordings into LeRobot v3.0 format.
Summary
Field
Value
Repo ID
CSCSXX/Franka_place_container_plate_90_trajs_260411
Robot
franka
Target FPS
10
Episodes
90
Frames
20574
Tasks
Place the container on the plate.
Convert Config
.\configs\convert.yaml
Observation And Action Layout
Feature
Shape
Description
observation.state
8… See the full description on the dataset page: https://huggingface.co/datasets/CSCSXX/Franka_place_container_plate_90_trajs_260411.sonic-seasoning
Sonic Seasoning
Sonic Seasoning is a multi-source corpus of short music/sound clips, each perceptually rated for how strongly it evokes the five basic tastes — sweet, bitter, salty, sour, spicy — with additional temperature and emotion annotations on a subset. Every rating is normalized to [0, 1], and every row points to a single uniformly-encoded .wav file. It is the benchmark corpus for taste-from-audio prediction as a content-based music-information-retrieval task.
📄… See the full description on the dataset page: https://huggingface.co/datasets/csc-unipd/sonic-seasoning.cscl_parse1This is cscl datasets.
Franka_beat_block_hammer_100_trajs_260426This dataset was created using LeRobot.
Dataset Description
Converted from raw Franka recordings into LeRobot v3.0 format.
Summary
Field
Value
Repo ID
CSCSXX/Franka_beat_block_hammer_100_trajs_260426
Robot
franka
Target FPS
10
Episodes
100
Frames
15260
Tasks
Pick the hammer and strike the block.
Convert Config
.\configs\PKU_2613\convert_beat_block_hammer.yaml
Raw Data Dir
data\20260426\beat_block_hammer
Observation… See the full description on the dataset page: https://huggingface.co/datasets/CSCSXX/Franka_beat_block_hammer_100_trajs_260426.0320_cosmetic2_dscs-calibrationThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 3,
"total_frames": 4692,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:3"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/mim-syn-tra-gen/cs-calibration.