datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
dAgger_build_block_tower_1.1.0-advantages
Advantage Values for villekuosmanen/dAgger_build_block_tower_1.1.0
Pre-computed advantage values for offline RL training.
Source
Dataset: villekuosmanen/dAgger_build_block_tower_1.1.0
Value Model: villekuosmanen/rewact_build_block_tower_all_3
N-step lookahead: 50
Files
This dataset contains per-episode parquet files with advantage values for each frame.
Usage
from pathlib import Path
import pandas as pd
# Load advantages for a specific episode… See the full description on the dataset page: https://huggingface.co/datasets/villekuosmanen/dAgger_build_block_tower_1.1.0-advantages.dAgger_build_block_tower_1.0.0-advantages
Advantage Values for villekuosmanen/dAgger_build_block_tower_1.0.0
Pre-computed advantage values for offline RL training.
Source
Dataset: villekuosmanen/dAgger_build_block_tower_1.0.0
Value Model: villekuosmanen/rewact_build_block_tower_all_3
N-step lookahead: 50
Files
This dataset contains per-episode parquet files with advantage values for each frame.
Usage
from pathlib import Path
import pandas as pd
# Load advantages for a specific episode… See the full description on the dataset page: https://huggingface.co/datasets/villekuosmanen/dAgger_build_block_tower_1.0.0-advantages.dagger_final_1_21This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "openarms_follower",
"total_episodes": 1,
"total_frames": 841,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"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/lerobot-data-collection/dagger_final_1_21.dAgger_build_block_tower_1.4.0-advantages
Advantage Values for villekuosmanen/dAgger_build_block_tower_1.4.0
Pre-computed advantage values for offline RL training.
Source
Dataset: villekuosmanen/dAgger_build_block_tower_1.4.0
Value Model: villekuosmanen/rewact_build_block_tower_all_3
N-step lookahead: 50
Files
This dataset contains per-episode parquet files with advantage values for each frame.
Usage
from pathlib import Path
import pandas as pd
# Load advantages for a specific episode… See the full description on the dataset page: https://huggingface.co/datasets/villekuosmanen/dAgger_build_block_tower_1.4.0-advantages.dAgger_pack_toothbrush_Nov26-advantages
Advantage Values for villekuosmanen/dAgger_pack_toothbrush_Nov26
Pre-computed advantage values for offline RL training.
Source
Dataset: villekuosmanen/dAgger_pack_toothbrush_Nov26
Value Model: villekuosmanen/rewact_toothbrush_pistar_1.5.0
N-step lookahead: 50
Files
This dataset contains per-episode parquet files with advantage values for each frame.
Usage
from pathlib import Path
import pandas as pd
# Load advantages for a specific episode… See the full description on the dataset page: https://huggingface.co/datasets/villekuosmanen/dAgger_pack_toothbrush_Nov26-advantages.dAgger_build_block_tower_1.2.0-advantages
Advantage Values for villekuosmanen/dAgger_build_block_tower_1.2.0
Pre-computed advantage values for offline RL training.
Source
Dataset: villekuosmanen/dAgger_build_block_tower_1.2.0
Value Model: villekuosmanen/rewact_build_block_tower_all_3
N-step lookahead: 50
Files
This dataset contains per-episode parquet files with advantage values for each frame.
Usage
from pathlib import Path
import pandas as pd
# Load advantages for a specific episode… See the full description on the dataset page: https://huggingface.co/datasets/villekuosmanen/dAgger_build_block_tower_1.2.0-advantages.dAgger_build_block_tower_1.3.0-advantages
Advantage Values for villekuosmanen/dAgger_build_block_tower_1.3.0
Pre-computed advantage values for offline RL training.
Source
Dataset: villekuosmanen/dAgger_build_block_tower_1.3.0
Value Model: villekuosmanen/rewact_build_block_tower_all_3
N-step lookahead: 50
Files
This dataset contains per-episode parquet files with advantage values for each frame.
Usage
from pathlib import Path
import pandas as pd
# Load advantages for a specific episode… See the full description on the dataset page: https://huggingface.co/datasets/villekuosmanen/dAgger_build_block_tower_1.3.0-advantages.cucumber-place-DAgger-iter2-doris070926-v1-trim
cucumber-place-DAgger-iter2-doris070926-v1-trim
Materialized collection — 117 episodes · 4,677 frames @ 20 fps (~4 min of demonstration).
Collection cucumber-place-DAgger-iter2-doris070926@v1 (frozen 2026-07-09), mode trim_rebuild — built by Vibe Data Studio; the machine-readable recipe in meta/vibedata/collection.json makes this dataset reproducible from its pinned components.
Tasks
Instruction
Episodes
place the cucumber on the middle of the cutting… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/cucumber-place-DAgger-iter2-doris070926-v1-trim.cucumber-place-DAgger-iter1-doris070726-v1-trim
cucumber-place-DAgger-iter1-doris070726-v1-trim
Materialized collection — 93 episodes · 3,546 frames @ 20 fps (~3 min of demonstration).
Collection cucumber-place-DAgger-iter1-doris070726@v1 (frozen 2026-07-08), mode trim_rebuild — built by Vibe Data Studio; the machine-readable recipe in meta/vibedata/collection.json makes this dataset reproducible from its pinned components.
Tasks
Instruction
Episodes
place the cucumber on the middle of the cutting… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/cucumber-place-DAgger-iter1-doris070726-v1-trim.cucumber-place-DAgger-iter0-trim-doris070126
cucumber-place-DAgger-iter0-trim-doris070126
Materialized collection — 87 episodes · 6,098 frames @ 20 fps (~5 min of demonstration).
Collection cucumber-place-DAgger-iter0-trim-doris070126@v1 (frozen 2026-07-01), mode trim_rebuild — built by Vibe Data Studio; the machine-readable recipe in meta/vibedata/collection.json makes this dataset reproducible from its pinned components.
Tasks
Instruction
Episodes
place the cucumber on the middle of the cutting… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/cucumber-place-DAgger-iter0-trim-doris070126.cucumber-subtask-grab-DAgger-iter2-task-unified_aux
cucumber-subtask-grab-DAgger-iter2-task-unified_aux
Materialized collection — 150 episodes · 13,484 frames @ 20 fps (~11 min of demonstration).
Collection cucumber-subtask-grab-DAgger-iter2@v1 (frozen 2026-06-25), mode trim_rebuild — built by Vibe Data Studio; the machine-readable recipe in meta/vibedata/collection.json makes this dataset reproducible from its pinned components.
Tasks
Instruction
Episodes
grab the cucumber close to one of the cucumber's… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/cucumber-subtask-grab-DAgger-iter2-task-unified_aux.cucumber-subtask-grab-DAgger-iter1-v1-trim
cucumber-subtask-grab-DAgger-iter1-v1-trim
Materialized collection — 100 episodes · 9,700 frames @ 20 fps (~8 min of demonstration).
Collection cucumber-subtask-grab-DAgger-iter1@v1 (frozen 2026-06-24), mode trim_rebuild — built by Vibe Data Studio; the machine-readable recipe in meta/vibedata/collection.json makes this dataset reproducible from its pinned components.
Tasks
Instruction
Episodes
grab
55
grab the cucumber close to one of the cucumber's… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/cucumber-subtask-grab-DAgger-iter1-v1-trim.smoke-dagger-20260729b
smoke-dagger-20260729b
Recorded dataset — captured on jetson1 — 2 episodes · 876 frames @ 20 fps (~1 min of demonstration).
Tasks
Instruction
Episodes
grab the cucumber
2
Recording
Rig
jetson1 (calibration sidecar)
Recorded
2026-07-29
Operator
jeremy
Episode sources
5 policy · 1 teleop
Assisting policies
VibeCuisine/jetson1-act-grab-DAgger-iter3-062926@65edddcc, code:vibedata_core.recording.skills:NudgeSkill@v1… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/smoke-dagger-20260729b.cucumber-peel-DAgger-iter1-adaptive1-v1-trimThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "vibeboard_follower_tilt",
"total_episodes": 78,
"total_frames": 28053,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:78"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/cucumber-peel-DAgger-iter1-adaptive1-v1-trim.cucumber-subtask-grab-DAgger-iter2-task-unified-aux-collection-v1-flatThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos",
"tilt.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/cucumber-subtask-grab-DAgger-iter2-task-unified-aux-collection-v1-flat.cucumber-peel-DAgger-iter1-v1-trimThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "vibeboard_follower_tilt",
"total_episodes": 70,
"total_frames": 26265,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:70"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/cucumber-peel-DAgger-iter1-v1-trim.cucumber-subtask-grab-DAgger-iter2-task-unifiedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos",
"tilt.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/cucumber-subtask-grab-DAgger-iter2-task-unified.cucumber-place-DAgger-iter0-v1-flatThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "vibeboard_follower_tilt",
"total_episodes": 113,
"total_frames": 15688,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:113"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/cucumber-place-DAgger-iter0-v1-flat.cucumber-subtask-grab-DAgger-iter1-v1-trim_auxThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos",
"tilt.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/cucumber-subtask-grab-DAgger-iter1-v1-trim_aux.cucumber-subtask-grab-DAgger-iter2-v1-trimThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "vibeboard_follower_tilt",
"total_episodes": 150,
"total_frames": 13484,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:150"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/cucumber-subtask-grab-DAgger-iter2-v1-trim.cucumber-grab-DAgger-iter3-task-unified-v1-flatThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "vibeboard_follower_tilt",
"total_episodes": 205,
"total_frames": 17312,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:205"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/cucumber-grab-DAgger-iter3-task-unified-v1-flat.cucumber-place-DAgger-iter3-doris071426-v1-trimThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "vibeboard_follower_tilt",
"total_episodes": 191,
"total_frames": 7585,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:191"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/cucumber-place-DAgger-iter3-doris071426-v1-trim.cucumber-place-DAgger-iter0-virtual-lineThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos",
"tilt.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/cucumber-place-DAgger-iter0-virtual-line.cucumber-subtask-grab-DAgger-iter2-v1-trim_auxThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos",
"tilt.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/cucumber-subtask-grab-DAgger-iter2-v1-trim_aux.dAgger_pack_toothbrush_Nov22-advantages
Advantage Values for villekuosmanen/dAgger_pack_toothbrush_Nov22
Pre-computed advantage values for offline RL training.
Source
Dataset: villekuosmanen/dAgger_pack_toothbrush_Nov22
Value Model: villekuosmanen/rewact_toothbrush_pistar_1.5.0
N-step lookahead: 50
Files
This dataset contains per-episode parquet files with advantage values for each frame.
Usage
from pathlib import Path
import pandas as pd
# Load advantages for a specific episode… See the full description on the dataset page: https://huggingface.co/datasets/villekuosmanen/dAgger_pack_toothbrush_Nov22-advantages.self_repair_gripper_dagger
self_repair_gripper_dagger
Robot self-repair, DAgger rollouts with operator corrections on the same task as self_repair_gripper_bc.
Real-robot bimanual manipulation data collected on a YAM arm pair, released as part
of the Flex-π project. Stored in LeRobot v2.1 format with synchronized RGB and
metric depth from three cameras.
At a glance
Episodes
2,154
Frames
609,385
Duration
~5.6 h @ 30 fps
Tasks
1
Robot
yam (bimanual)
Cameras
cam_high… See the full description on the dataset page: https://huggingface.co/datasets/flex-pi/self_repair_gripper_dagger.key-unlock-dagger-v2.1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "yam_bimanual",
"total_episodes": 161,
"total_frames": 34279,
"total_tasks": 1,
"total_videos": 483,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:161"
},
"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/key-unlock-dagger-v2.1.route_plus_steer_place_subtasks_dual_overhead_pi05_224_plus_dagger
224px Route + Steering Placement + DAgger with Dual Overhead Views
This is a LeRobot v2.1 training dataset at 100 Hz. Every output episode contains
one constant prompt. Base route boundaries are inferred from maximal
contiguous runs of metadata.route.active_subgoal; partial source episodes are
kept as the suffix subtasks they contain.
The base data contains 495 route subtask episodes (128742 frames) and 202 steering/placement episodes (50099 frames). All 66 route DAgger clips… See the full description on the dataset page: https://huggingface.co/datasets/ajaysri/route_plus_steer_place_subtasks_dual_overhead_pi05_224_plus_dagger.dAgger_pack_toothbrush_Nov30-advantages
Advantage Values for villekuosmanen/dAgger_pack_toothbrush_Nov30
Pre-computed advantage values for offline RL training.
Source
Dataset: villekuosmanen/dAgger_pack_toothbrush_Nov30
Value Model: villekuosmanen/rewact_toothbrush_pistar_1.5.0
N-step lookahead: 50
Files
This dataset contains per-episode parquet files with advantage values for each frame.
Usage
from pathlib import Path
import pandas as pd
# Load advantages for a specific episode… See the full description on the dataset page: https://huggingface.co/datasets/villekuosmanen/dAgger_pack_toothbrush_Nov30-advantages.dAgger_build_block_tower_1.3.0This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "arx5",
"total_episodes": 50,
"total_frames": 56078,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"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/villekuosmanen/dAgger_build_block_tower_1.3.0.