datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
libero_object_no_noops_1.0.0_lerobotamazon-berkeley-objects
Amazon Berkeley Objects (ABO)
A Hugging Face packaging of the Amazon Berkeley Objects (ABO) dataset. The
data content is the official CC BY 4.0 release from
https://amazon-berkeley-objects.s3.amazonaws.com/index.html. This mirror
changes only the packaging: files are grouped into typed Parquet shards, and
every original media file is preserved byte-for-byte and never transcoded.
Images use the datasets Image() feature, 3D product models use the native
Mesh() feature (original… See the full description on the dataset page: https://huggingface.co/datasets/suvadityamuk/amazon-berkeley-objects.HRM-He-corpus-objective
Hebrew reasoning traces
Generated Hebrew chain-of-thought over code, cybersecurity, agentic, math and
general-reasoning seeds. Built for a Hebrew/English code-specialised LM, where
off-the-shelf Hebrew reasoning data is effectively nonexistent.
What the default config contains
Every row the training corpus keeps -- not a filtered highlight reel. Two things
are disqualifying and are absent: a wrong final answer (answer_ok is False), and
Arabic drift. Everything… See the full description on the dataset page: https://huggingface.co/datasets/guychuk/HRM-He-corpus-objective.G1_Dex3_ObjectPlacement_DatasetThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex3_ObjectPlacement_Dataset.PhysicalAI-Robotics-Manipulation-ObjectsPhysicalAI-Robotics-Manipulation-Objects is a dataset of automatic generated motions of robots performing operations such as picking and placing objects in a kitchen environment. The dataset was generated in IsaacSim leveraging reasoning algorithms and optimization-based motion planning to find solutions to the tasks automatically [1, 3]. The dataset includes a bimanual manipulator built with Kinova Gen3 arms. The environments are kitchen scenes where the furniture and appliances were… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Objects.libero_plus_objectObjectForesight-EPIC
ObjectForesight: EPIC-KITCHENS-100 3D Object Trajectories
📄 Paper (arXiv:2601.05237) · 🤖 Model: raivn/ObjectForesight-EPIC-DiT · 🛠️ Curation/extraction pipeline: RustinS/ObjectForesight-Data
Per-object 3D manipulation extractions from EPIC-KITCHENS-100, used to train ObjectForesight, a 3D object-centric dynamics model that predicts future 6-DoF object poses and trajectories from short egocentric video.
This is the raw extraction, not pre-windowed trajectories. Each clip… See the full description on the dataset page: https://huggingface.co/datasets/raivn/ObjectForesight-EPIC.go2_object_approach_v1
Go2 Object Approach v1
Keyboard-teleoperated Unitree Go2 EDU trajectories for the task:
"Approach the target object and stop in a manipulation-ready pose."
The collection contains 202 episodes and 48,889 frames at a nominal 20 Hz
(2,444.45 seconds, approximately 40.74 minutes). Episode lengths range from
109 to 502 frames (5.45–25.10 seconds). Data is stored in LeRobot Dataset v3
with Parquet telemetry and H.264 front-camera video. No audio or depth is included.
This is a… See the full description on the dataset page: https://huggingface.co/datasets/dancher00/go2_object_approach_v1.ctr-scan-object-uniform50-20260917
IdleMask review — passed (2026-09-19)
Reviewed by the dataset owner: observation.arm_active_mask is correct and this revision is a formally usable CTR dataset. This section supersedes previous active/idle-mask descriptions below.
For each of the 50 episodes and each physical arm, only the initial contiguous scheduling delay may have mask 0. From first duty through the final frame the mask is always 1. Scan synchronization waits, cooperative holds, the shared scan tail and… See the full description on the dataset page: https://huggingface.co/datasets/Shiki42/ctr-scan-object-uniform50-20260917.obj_to_mug_20260915_001612This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/shubhdotai/obj_to_mug_20260915_001612.so101_moving_objectThis dataset was created using my fork of LeRobot.
Joint calibration
Joint calibration for the featured SO-101 is on Github
Dataset Structure
meta/info.json:
so101_stationary_vary_objThis dataset was created using my fork of LeRobot.
Joint calibration
Joint calibration for the featured SO-101 is on Github
Dataset Structure
meta/info.json:
pick-objects-and-place-in-basketobject-sorting-cross-embodiment-rich-modality-sample
Cross-Embodiment Object Sorting — Rich-Modality 20-Episode Inspection Sample
20 episodes total: 10 Franka Panda + 10 WidowXAI. A compact cross-embodiment inspection release for picking up an instructed object and placing it into an instructed target box. Each robot keeps its native LeRobot v2.1 state/action schema in a separate Viewer config. Five synchronized RGB views, metric depth and instance segmentation for every camera, robot state/action, end-effector trajectories… See the full description on the dataset page: https://huggingface.co/datasets/ExylosAi/object-sorting-cross-embodiment-rich-modality-sample.so101_pick_diverse_objects
Dataset Card: SO101 Object Pick-Up Dataset
Overview
This dataset contains object pick-up demonstrations collected using the SO101 robotic arm. It is intended for training robot manipulation policies focused on pick-up tasks across a diverse set of everyday objects.
Dataset Summary
Item
Details
Release Date
April 30, 2026
Number of Objects
~70 objects
Total Duration
~2 hours
Task Type
Object Pick-Up
Robot
SO101
Robot Setup… See the full description on the dataset page: https://huggingface.co/datasets/TakuyaHiraoka/so101_pick_diverse_objects.libero_object_mask_depth_IPEC_COMMUNITY_formatThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 500,
"total_frames": 74507,
"total_tasks": 10,
"total_videos": 4000,
"total_chunks": 0,
"chunks_size": 1000,
"fps": 20,
"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/binhng/libero_object_mask_depth_IPEC_COMMUNITY_format.interactive_objectsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "arx5",
"total_episodes": 48,
"total_frames": 53423,
"total_tasks": 10,
"total_videos": 147,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:48"
},
"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/interactive_objects.so100_obj_to_bin_top0_180This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 1,
"total_frames": 872,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1"
},
"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/taxitain/so100_obj_to_bin_top0_180.libero_object_no_noopsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 454,
"total_frames": 66984,
"total_tasks": 10,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 10,
"splits": {
"train": "0:454"
},
"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/ymdou/libero_object_no_noops.so100_obj_to_bin_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 5,
"total_frames": 2902,
"total_tasks": 1,
"total_videos": 10,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:5"
},
"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/taxitain/so100_obj_to_bin_v2.quest-objective-trajectories
QUEST Objective Trajectories
Full-text deep-research trajectories restored from the QUEST Objective SFT
release. A QUEST row is one session: the question, a RESEARCH STATE SUMMARY
of the sessions before it, and the current session's turns. This dataset
replaces each summary with the turns it summarized, so a trajectory is the
original question followed by every real search and visit turn from the first
session to the last. Nothing is regenerated, and the summaries themselves are… See the full description on the dataset page: https://huggingface.co/datasets/YukinoshitaYukino/quest-objective-trajectories.so101-object-in-box_v0.4-fixedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 101,
"total_frames": 22260,
"total_tasks": 1,
"total_videos": 101,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:101"
},
"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/Thytu/so101-object-in-box_v0.4-fixed.dreamlake-hand-object
Hand-object 3D reconstruction demo (TACO top-5)
Five egocentric hand-object manipulation clips with full 3D reconstructions,
exported from the public DreamLake staging annotation
yancy/hand-object-recon3d-top5.
Source recordings are from the TACO dataset
(research use). Video, 2D hand keypoints, MANO hand meshes and object poses
all come from the same clip, so the 3D always matches the pixels.
episode
task
duration
measure-ruler-toy__20231102_058
measure a toy with a… See the full description on the dataset page: https://huggingface.co/datasets/live9080/dreamlake-hand-object.objects_to_bowlThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 122,
"total_frames": 56264,
"total_tasks": 3,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:122"
},
"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/irlxrd/objects_to_bowl.libero_objectThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 500,
"total_frames": 74507,
"total_tasks": 10,
"total_videos": 4000,
"total_chunks": 0,
"chunks_size": 1000,
"fps": 20,
"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/binhng/libero_object.libero_object_task0This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 10.0,
"features": {
"observation.images.image": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"fps": 10.0,
"info": {… See the full description on the dataset page: https://huggingface.co/datasets/ssabats/libero_object_task0.robotwin_put_obj_cabinet_start-aligned50_finish-aligned50_hybrid_150
ABORTED research artifact — retained for reproducibility, not deleted.
This artifact is retained as historical evidence only. Its cached segment-start main-camera observations are not eligible for dynamic-main-view claims. See ABORTED.yaml for the machine-readable archival record.
Archival registry mapping:
experiment_id: E003
robotwin_put_obj_cabinet_start-aligned50_finish-aligned50_hybrid_150
This dataset was created using LeRobot.
Dataset… See the full description on the dataset page: https://huggingface.co/datasets/Shiki42/robotwin_put_obj_cabinet_start-aligned50_finish-aligned50_hybrid_150.agibot-sim-pack-moving-objects-from-conveyorThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "a2d",
"total_episodes": 100,
"total_frames": 90641,
"total_tasks": 1,
"total_videos": 300,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30.0,
"splits": {
"train": "0:100"
},
"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/bot-pi/agibot-sim-pack-moving-objects-from-conveyor.robotwin_put_obj_cabinet_fixedArmTask_hybrid_100
ABORTED research artifact — retained for reproducibility, not deleted.
This artifact is retained as historical evidence only. Its cached segment-start main-camera observations are not eligible for dynamic-main-view claims. See ABORTED.yaml for the machine-readable archival record.
Archival registry mapping:
experiment_id: E004
robotwin_put_obj_cabinet_fixedArmTask_hybrid_100
This dataset was created using LeRobot.
Dataset Description
This is a… See the full description on the dataset page: https://huggingface.co/datasets/Shiki42/robotwin_put_obj_cabinet_fixedArmTask_hybrid_100.Multi-Object_Packing_20260909_154405This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"… See the full description on the dataset page: https://huggingface.co/datasets/BenzyYue/Multi-Object_Packing_20260909_154405.