datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
CloudSEN12Plus
🚨 New Dataset Version Released!
We are excited to announce the release of Version [1.1] of our dataset!
This update includes:
[L2A & L1C support].
[Temporal support].
[Check the data without downloading (Cloud-optimized properties)].
📥 Go to: https://huggingface.co/datasets/tacofoundation/cloudsen12 and follow the instructions in colab
CloudSEN12+ is a significant extension of the CloudSEN12 dataset, which doubles the number of… See the full description on the dataset page: https://huggingface.co/datasets/isp-uv-es/CloudSEN12Plus.psi0-g1-sneaker-205ep-v2-source
Psi0 G1 Sneaker-in-Box — 205 episodes (v2 canonical source)
⚠️ Do not use this dataset directly for training. This is the canonical immutable union of the v1 and v2 collections, kept as a source of truth for reproducibility. For v2 fine-tuning use psi0-g1-sneaker-199ep-v2; for held-out evaluation use psi0-g1-sneaker-6ep-v2-eval. Together these two derivatives reconstruct this canonical dataset exactly: 199 + 6 = 205.
205 teleoperated episodes of a Unitree G1 humanoid (with Inspire… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/psi0-g1-sneaker-205ep-v2-source.gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-5
Grab-Bottle (right hand) - zero-wandering, smoothing half-width 5
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task, curated to
remove non-purposeful arm motion ("wandering") so a trained policy does not learn
unstable behavior. Derived from the
105-episode source teleoperation set
by running the kinematic zero-wandering pipeline at smoothing half-width 5;
each surviving clean sub-segment is emitted as its own episode (no action chunk ever
spans a cut).
This is… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-5.gr00t-g1-grab-bottle-right-hand-speedup-3mm-v1
Grab-Bottle (right hand) - DP-resampled, 3 mm/frame wrist target
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. Merges two
teleoperation datasets and applies Dynamic Programming (DP) resampling on the
right-wrist XYZ trajectory to normalise the action density across all episodes. It is
the training data for the
v7 GR00T N1.7 fine-tune
a speedup-resampling reference baseline (trained 2026-06-25, checkpoint-20000
only).
The key idea: instead of keeping… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-speedup-3mm-v1.gr00t-g1-grab-bottle-right-hand-105ep-v1
GR00T G1 Grab-Bottle — right hand, 105 episodes (source teleoperation set)
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. This is the
base source teleoperation set of the grab-bottle lineage — 105 episodes of
real-robot demonstration, manually cleaned at the episode level (bad runs discarded),
with no automated frame-level curation applied.
It is the dataset the curated variants are derived from: the
zero-wandering-smooth-radius-{5,10,15,20} sets and the… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-105ep-v1.gr00t-g1-grab-bottle-right-hand-radius-20-merged
Grab-Bottle (right hand) - radius-20 merged
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. This is a
merge of two source teleoperation datasets, curated with the zero-wandering
pipeline at smoothing half-width 20 and safe_frames 50, then renumbered into
one contiguous set of 502 episodes. It is the largest and best-curated set of the
grab-bottle lineage and the training data for the
v6 GR00T N1.7 fine-tune.
Each surviving clean sub-segment is emitted as its… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-radius-20-merged.gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-15
Grab-Bottle (right hand) - zero-wandering, smoothing half-width 15
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task, curated to
remove non-purposeful arm motion ("wandering") so a trained policy does not learn
unstable behavior. Derived from the
105-episode source teleoperation set
by running the kinematic zero-wandering pipeline at smoothing half-width 15;
each surviving clean sub-segment is emitted as its own episode (no action chunk ever
spans a cut).
This… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-15.gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-10
Grab-Bottle (right hand) - zero-wandering, smoothing half-width 10
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task, curated to
remove non-purposeful arm motion ("wandering") so a trained policy does not learn
unstable behavior. Derived from the
105-episode source teleoperation set
by running the kinematic zero-wandering pipeline at smoothing half-width 10;
each surviving clean sub-segment is emitted as its own episode (no action chunk ever
spans a cut).
This… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-10.gr00t-g1-grab-bottle-right-hand-speedup-3mm-cycle-removed-v1
Grab-Bottle (right hand) - DP-resampled 3 mm/frame + cycle removal
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. Extends the
DP-resampled variant
by automatically detecting and removing return cycles in wrist-space - segments where
the arm travels away from a point and then returns to (approximately) the same position.
Such cycles teach the policy to backtrack rather than commit to a goal-directed motion.
No fine-tune has been produced from this variant… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-speedup-3mm-cycle-removed-v1.gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-20
Grab-Bottle (right hand) - zero-wandering, smoothing half-width 20
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task, curated to
remove non-purposeful arm motion ("wandering") so a trained policy does not learn
unstable behavior. Derived from the
105-episode source teleoperation set
by running the kinematic zero-wandering pipeline at smoothing half-width 20;
each surviving clean sub-segment is emitted as its own episode (no action chunk ever
spans a cut).
This… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-20.gr00t-g1-grab-bottle-right-hand-v2
Grab-Bottle (right hand) - v2 (distance-to-goal wandering removal)
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. Curated from
the 105-episode source set
by removing non-purposeful back-and-forth arm motion ("wandering") via a
distance-to-goal method, then splitting each episode into clean sub-episodes so
GR00T's 40-step action window never spans a cut. It is the training data for the
v2 GR00T N1.7 fine-tune
the current validated production champion (11/12… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-v2.gr00t-g1-grab-bottle-right-hand-worst-positions-empty-115ep-v3
GR00T G1 Grab-Bottle — right hand, worst-positions, 115 episodes
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. This is a
hard-pose teleoperation set — 115 episodes collected deliberately at the bottle
positions where prior fine-tuned policies performed worst (the model would approach
the bottle but stop ~10 cm short of contact and fail to grasp). It was recorded to fill
the policy's reach-distance distribution gap. Manually cleaned at the episode level; no… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-worst-positions-empty-115ep-v3.CloudPerfTrace
CloudPerfTrace: A High-Resolution Dataset for VM Performance Prediction
CloudPerfTrace is a large-scale dataset featuring 206 system-level metrics captured at a 1-second resolution over 317 days. It is specifically designed for black-box multi-tenant cloud environments where internal VM telemetry is unavailable.
The dataset captures 11 diverse application tasks and the complex interplay between intrinsic workload variations and external resource interference, collected entirely… See the full description on the dataset page: https://huggingface.co/datasets/AmirShahbaz/CloudPerfTrace.psi0-g1-sneaker-94ep-v1
Psi0 G1 Sneaker-in-Box — 94 episodes (v1)
94 teleoperated episodes of a Unitree G1 humanoid (with Inspire RH56DFTP hands) picking up a sneaker and placing it inside a box. Right-hand only, single-handed task. Used to fine-tune the v1 Psi0 checkpoint at the CloudWalk Robotics Lab (CW-RL), 2026-04. To our knowledge, the v1 fine-tune was the first publicly reported external reproduction of the Psi0 paper's full pipeline (collect → finetune → real-robot deploy).
Quick facts… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/psi0-g1-sneaker-94ep-v1.gr00t-g1-grab-bottle-right-hand-v10
Grab-Bottle (right hand) - v10 (Break Down: v1 wandering detection on the merged set)
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. Applies the
v1 wandering-detection method ("Break Down") to the merge of the two source
teleoperation sets: rising segments of the wrist's distance-to-goal curve are detected
and the corresponding frames are removed, and each kept sub-segment becomes its own
episode so no GR00T action chunk spans a cut.
This is the family's… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-v10.gr00t-g1-grab-bottle-right-hand-v11
Grab-Bottle (right hand) - v11 (Break Down + Speed Up: v1 wandering detection then DP resampling)
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. Combines the
v1 wandering-detection method ("Break Down") with DP frame resampling ("Speed
Up") on the merge of the two source teleoperation sets. Break Down runs first to
remove wandering blocks and split into sub-segments; DP resampling is then applied
independently to each sub-segment using a dynamic per-frame… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-v11.psi0-g1-he-pickplace-9x40ep
psi0-g1-he-pickplace-9x40ep
9 curated pick-and-place tasks from the Humanoid-Everyday (HE) dataset, re-targeted from the Unitree G1 + Dex3-1 3-finger hands onto our G1 + Inspire RH56DFTP 6-DoF lockstep schema — so it can be mixed directly into LeRobot v2.1 fine-tunes of Psi0 (or any policy trained against the Inspire convention) without further preprocessing.
v1.3 update (2026-05-15) — fixes a RH-only polarity inversion that v1.0/v1.1/v1.2 all carried silently. The Dex3-1… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/psi0-g1-he-pickplace-9x40ep.psi0-apple-to-plate-teleop
Psi0 Apple-to-Plate VR Teleoperation Dataset
Human-demonstrated loco-manipulation trajectories for fine-tuning the Psi0 Vision-Language-Action (VLA) model on a Unitree G1 humanoid robot in Isaac Lab simulation.
Dataset Summary
Property
Value
Robot
Unitree G1 29-DOF (dexterous hands + wholebody locomotion)
Task
Pick up the apple, walk left and place the apple on the plate
Episodes
79 (filtered from 81; removed ep49=22 frames < chunk_size… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/psi0-apple-to-plate-teleop.psi0-g1-sneaker-6ep-v2-eval
Psi0 G1 Sneaker-in-Box — 6 episodes (v2 held-out eval)
Held-out evaluation set for the v2 Psi0 fine-tune. 6 episodes (3 LEFT + 3 RIGHT) split off from the canonical 205-episode v2 source and intentionally never seen during training. The training partner is psi0-g1-sneaker-199ep-v2; together they reconstruct the canonical source exactly (6 + 199 = 205). Used in the v2 Phase 11.5 open-loop eval (2026-05-07) — see Open-loop eval results below.
TL;DR. v2 memorized rather than… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/psi0-g1-sneaker-6ep-v2-eval.multi-domain-cloudflare-observability
Multi-Domain Cloudflare Web Traffic, Performance and Security Observability Dataset
This dataset contains multi-domain Cloudflare analytics exported into analysis-ready Parquet tables. It combines HTTP request aggregates, hourly traffic trends, path and referrer dimensions, country/device/browser breakdowns, DNS analytics, cache behavior, Web Vitals/RUM performance signals, redirect and ruleset metadata, and available firewall/security aggregates across 200 websites.
The… See the full description on the dataset page: https://huggingface.co/datasets/Lightcap/multi-domain-cloudflare-observability.psi0-g1-sneaker-385ep-v4
Psi0 G1 Sneaker-in-Box — 385 episodes (v4 training)
385 teleoperated episodes of a Unitree G1 humanoid (with Inspire RH56DFTP hands) on the "Pick up the sneaker and place it inside the box." task. Extends psi0-g1-sneaker-325ep-v3 with 60 negative episodes — scenes where the box and/or sneaker are absent — to teach the policy to remain still when the task cannot be executed.
Renamed 2026-05-08: working name psi0-g1-sneaker-385ep-v1 → psi0-g1-sneaker-385ep-v4 to align the suffix with… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/psi0-g1-sneaker-385ep-v4.africa-cloud-cover-bias
Cloud Cover and Structural Observation Gaps in African Agricultural EO (six-zone dataset)
Supporting data for the paper "Cloud Cover and Structural Observation Gaps in
African Agricultural Earth Observation: Evidence from Six Agroecological Zones"
(Olaoye Anthony Somide, CropSense AI Research / CipherSense AI; Zenodo, doi:10.5281/zenodo.22642336; also EarthArXiv, doi:10.31223/X5J503).
Weekly usable Sentinel-2 optical observation frequency over cropland for six administrative… See the full description on the dataset page: https://huggingface.co/datasets/CipherSenseAI/africa-cloud-cover-bias.gr00t-g1-grab-bottle-right-hand-speedup-2mm-v3
Grab-Bottle (right hand) - DP-resampled, 2 mm/frame wrist target (on curated v2)
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. Applies
Dynamic Programming (DP) resampling at a finer 2 mm/frame wrist target on top
of the pre-curated gr00t-g1-grab-bottle-right-hand-v2
(wandering-removed) dataset. It is the training data for the
v9 GR00T N1.7 fine-tune
(trained 2026-06-26, checkpoint-10000 + checkpoint-20000).
The key idea: instead of keeping every raw frame… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-speedup-2mm-v3.USearchMolecules
USearch Molecules
7'132'507'184 small molecules with 2D fingerprints, 3D conformers and shape descriptors, indexed for real-time similarity search.
Start with example: 2 million molecules drawn from all three sources, 4 GB, carrying everything the larger subsets do.
Config
Molecules
Source
example
2'000'000
drawn from the three below, not additive
pubchem
115'627'267
NCBI PubChem
gdb13
977'468'267
University of Bern GDB13
real
6'039'411'650
Enamine REAL… See the full description on the dataset page: https://huggingface.co/datasets/unum-cloud/USearchMolecules.CloudSEN12Plus
🚨 New Dataset Version Released!
We are excited to announce the release of Version [1.1] of our dataset!
This update includes:
[L2A & L1C support].
[Temporal support].
[Check the data without downloading (Cloud-optimized properties)].
📥 Go to: https://huggingface.co/datasets/tacofoundation/cloudsen12 and follow the instructions in colab
CloudSEN12+ is a significant extension of the CloudSEN12 dataset, which doubles the number of… See the full description on the dataset page: https://huggingface.co/datasets/MohamedAyman456/CloudSEN12Plus.cloudflare-domain-traffic-analytics
Cloudflare Domain Traffic Analytics Snapshot
This repository is a structured snapshot of Cloudflare data across 200 zones. It combines domain inventory, redirect configuration, DNS metadata, Web Analytics setup, HTTP time series, request dimension groups, real-user page-load and Web Vitals metrics, DNS analytics, Speed API availability, and firewall aggregates where Cloudflare exposes them into analysis-ready Parquet tables.
The collection window for traffic tables is… See the full description on the dataset page: https://huggingface.co/datasets/Lightcap/cloudflare-domain-traffic-analytics.opengloss-dictionary
OpenGloss Dictionary (Word-Level)
Dataset Summary
OpenGloss is a synthetic encyclopedic dictionary and semantic knowledge graph for English that integrates lexicographic definitions, encyclopedic context, etymological histories, and semantic relationships in a unified resource.
This dataset provides the words-level view where each record represents one lexeme (word or multi-word expression).
Key Statistics
150,101 lexemes across 150,101 English… See the full description on the dataset page: https://huggingface.co/datasets/Cloudadorablebearcloudbear/opengloss-dictionary.os-omni-benchmark
OS-Omni Benchmark
OS-Omni is a cross-platform benchmark for evaluating agents that operate graphical operating-system environments. This dataset repository contains the static benchmark task definitions and supporting assets used to configure and evaluate OS-Omni tasks.
Contents
data/tasks.parquet: tabular task index for Hugging Face Dataset Viewer and Croissant generation.
data/tasks.jsonl: JSON Lines copy of the same task index.
metadata/tasks.parquet: duplicate task… See the full description on the dataset page: https://huggingface.co/datasets/Cloudriver/os-omni-benchmark.nepali-tokenizer-corpuspsi0-g1-sneaker-199ep-v2
Psi0 G1 Sneaker-in-Box — 199 episodes (v2 training)
Training subset of the 205-episode v2 canonical source, with 6 episodes held out for open-loop evaluation. Used as the input for the v2 Psi0 fine-tune (CloudWalk Research). Bimanual: roughly half LEFT-hand demos, half RIGHT-hand. Same task as v1 — "Pick up the sneaker and place it inside the box." — same Unitree G1 + Inspire RH56DFTP hardware.
The held-out 6 episodes live in psi0-g1-sneaker-6ep-v2-eval. 199 + 6 = 205 reconstructs… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/psi0-g1-sneaker-199ep-v2.