datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
berkeley_cable_routingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "unknown",
"total_episodes": 1647,
"total_frames": 42328,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1647"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/berkeley_cable_routing.berkeley_cable_routing_lerobotThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "franka",
"total_episodes": 1482,
"total_frames": 38240,
"total_tasks": 1,
"total_videos": 5928,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1482"
},
"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/IPEC-COMMUNITY/berkeley_cable_routing_lerobot.dk1_cable_tie_2026-06-12This dataset was created using LeRobot.
Dataset Description
Bimanual DK1 teleop recording (cable tie, 2026-06-12). Pre-roll losslessly trimmed (forced IDR at episode start) so each episode video aligns exactly with the recorded data (from_timestamp=0).
Robot: TRLC DK1 bimanual (bi_dk1_follower) — 2× 6-DOF arms with grippers
Task: Take a green cable tie from the red box, thread the tail through the head to close it, then place it in the transparent bin on the left.… See the full description on the dataset page: https://huggingface.co/datasets/andreaskoepf/dk1_cable_tie_2026-06-12.R1_Lite_connect_the_router_cable
R1_Lite_connect_the_router_cable
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: galaxea_r1_lite
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
insert
📊 Dataset Statistics… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/R1_Lite_connect_the_router_cable.dk1_cable_tie_2026-06-11This dataset was created using LeRobot.
Dataset Description
Bimanual DK1 teleop recording (2026-06-11). Pre-roll trimmed so each episode video aligns exactly with the recorded data (from_timestamp=0).
Robot: TRLC DK1 bimanual (bi_dk1_follower) — 2× 6-DOF arms with grippers
Task: Take a green cable tie from the red box, thread the tail through the head to close it, then place it in the transparent bin on the left.
Episodes: 98
Total frames: 348,656 (96.8 min @ 60 fps)
Avg… See the full description on the dataset page: https://huggingface.co/datasets/andreaskoepf/dk1_cable_tie_2026-06-11.cable_insertionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "hessian",
"total_episodes": 110,
"total_frames": 39222,
"total_tasks": 1,
"total_videos": 330,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 60,
"splits": {
"train": "0:110"
},
"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/DistantSky/cable_insertion.long_cable_insertion_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "hessian",
"total_episodes": 246,
"total_frames": 76383,
"total_tasks": 1,
"total_videos": 738,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 60,
"splits": {
"train": "0:246"
},
"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/DistantSky/long_cable_insertion_2.cable-box_gr00t
cable-box_gr00t
LeRobot v2.1 dataset recorded with the luxo-summer-camp teleop stack.
61 episodes, 100143 frames @ 30 fps
observation.state / action: 49-dim joint positions — names in meta/info.json
Cameras: observation.images.ego_view
Load with:
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("120ft/cable-box_gr00t")
plug_white_usb_cableThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "yam_bimanual",
"total_episodes": 176,
"total_frames": 187001,
"total_tasks": 1,
"total_videos": 528,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:176"
},
"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/YOLO2431/plug_white_usb_cable.plug_white_usb_cable_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "yam_bimanual",
"total_episodes": 500,
"total_frames": 780164,
"total_tasks": 1,
"total_videos": 1500,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:500"
},
"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/YOLO2431/plug_white_usb_cable_v2.AIRBOT_MMK2_place_the_network_cable_and_mouse_box
AIRBOT_MMK2_place_the_network_cable_and_mouse_box
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: discover_robotics_aitbot_mmk2
| Codebase Version: v2.1
End-Effector Type: five_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AIRBOT_MMK2_place_the_network_cable_and_mouse_box.agilex_connect_charging_cableThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "arx5_bimanual",
"total_episodes": 39,
"total_frames": 28603,
"total_tasks": 1,
"total_videos": 117,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 25,
"splits": {
"train": "0:39"
},
"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/villekuosmanen/agilex_connect_charging_cable.plug_white_usb_cable_v1.1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "yam_bimanual",
"total_episodes": 176,
"total_frames": 187001,
"total_tasks": 1,
"total_videos": 528,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:176"
},
"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/YOLO2431/plug_white_usb_cable_v1.1.long_cable_insertion_2_raw_plus_dagger2xThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "arx",
"total_episodes": 538,
"total_frames": 70596,
"total_tasks": 3,
"chunks_size": 1000,
"data_files_size_in_mb": 0,
"video_files_size_in_mb": 0,
"fps": 50,
"splits": {
"train": "0:538"
},
"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/ajaysri/long_cable_insertion_2_raw_plus_dagger2x.yam_cable_tieThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "yam_bimanual",
"total_episodes": 160,
"total_frames": 251080,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:160"
},
"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/jellyho/yam_cable_tie.plug_white_usb_cable_v1.2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "yam_bimanual",
"total_episodes": 176,
"total_frames": 187001,
"total_tasks": 1,
"total_videos": 528,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:176"
},
"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/YOLO2431/plug_white_usb_cable_v1.2.cable_pick_and_place_new2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "koch",
"total_episodes": 82,
"total_frames": 46108,
"total_tasks": 1,
"total_videos": 164,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:82"
},
"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/Dongkkka/cable_pick_and_place_new2.cables_il_only_whiteThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 101,
"total_frames": 78009,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:101"
},
"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/AdrielP/cables_il_only_white.cable_insertion_3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "hessian",
"total_episodes": 66,
"total_frames": 19896,
"total_tasks": 1,
"total_videos": 198,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 60,
"splits": {
"train": "0:66"
},
"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/DistantSky/cable_insertion_3.gripper-cableroutingtest2_pi05_ep0_24_x2_50eps_actThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 10,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
12
],
"names": [
"arm_left_joint_0",
"arm_left_joint_1",
"arm_left_joint_2",
"arm_left_joint_3",
"arm_left_joint_4"… See the full description on the dataset page: https://huggingface.co/datasets/takeru01/gripper-cableroutingtest2_pi05_ep0_24_x2_50eps_act.omy_f3m_right_spacemouse_LG_insert_cable_6This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 55,
"total_frames": 7063,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:55"
},
"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/AivexRoboticsGroup/omy_f3m_right_spacemouse_LG_insert_cable_6.pi07_cable_three_vector_v1
Three-holder cable routing with vector goals
Real-robot demonstrations for a vector-conditioned low-level policy: place three holders and route a cable through each holder. This is the validated LeRobot v3 dataset prepared for the first Pi0.7 four-camera-goal cable policy.
Property
Value
Source recordings
140
Subtask episodes
840
Frames
335,897
Sampling rate
100 Hz
Robot
ARX bimanual
Recorded state / action
14 / 14 dimensions
Video resolution
448 × 448… See the full description on the dataset page: https://huggingface.co/datasets/ajaysri/pi07_cable_three_vector_v1.cables_v3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "eyou_ft7_follower",
"total_episodes": 2,
"total_frames": 1093,
"total_tasks": 1,
"total_videos": 6,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"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/1g0rrr/cables_v3.cable_pick_and_place_mergedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "koch",
"total_episodes": 82,
"total_frames": 46108,
"total_tasks": 1,
"total_videos": 164,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:82"
},
"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/Dongkkka/cable_pick_and_place_merged.so101_unplug_cable_3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 49,
"total_frames": 23490,
"total_tasks": 1,
"total_videos": 98,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:49"
},
"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/fbeltrao/so101_unplug_cable_3.unitree_insert_the_ethernet_cable_to_the_tv_boxThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex1_Sim",
"total_episodes": 69,
"total_frames": 32891,
"total_tasks": 1,
"total_videos": 207,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:69"
},
"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/XiaoweiLinXL/unitree_insert_the_ethernet_cable_to_the_tv_box.omy_f3m_right_spacemouse_LG_insert_cable_1_1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 30,
"total_frames": 3049,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:30"
},
"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/AivexRoboticsGroup/omy_f3m_right_spacemouse_LG_insert_cable_1_1.cables_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "eyou_ft7_follower",
"total_episodes": 2,
"total_frames": 1093,
"total_tasks": 1,
"total_videos": 6,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"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/1g0rrr/cables_v2.cable_pick_and_place3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "koch",
"total_episodes": 28,
"total_frames": 15892,
"total_tasks": 1,
"total_videos": 56,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:28"
},
"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/Dongkkka/cable_pick_and_place3.omy_f3m_right_spacemouse_LG_cable1_pickThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 32,
"total_frames": 2696,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:32"
},
"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/AivexRoboticsGroup/omy_f3m_right_spacemouse_LG_cable1_pick.