datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
kupe-thinkspark-270m-phase1-data
ThinkSpark-v2-350M — Phase-1 free-audio training data
Pre-encoded Mimi cb0 (12.5Hz semantic) tokens +
per-frame energy/f0 prosody, packaged for Phase 1 of ThinkSpark-v2-350M — teaching a
270M-parameter Gemma-3-based full-duplex floor-controller that a stream of Mimi audio
tokens carries language + prosody, before Phase 2 teaches it to referee turn-taking.
Sourced from free/open corpora (LibriSpeech, AI4Bharat Kathbath/Shrutilipi, IndicTTS,
Google FLEURS) via… See the full description on the dataset page: https://huggingface.co/datasets/anuj-inavlabs/kupe-thinkspark-270m-phase1-data.phase1-subtask-green-0209This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 35,
"total_frames": 25497,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:35"
},
"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/Ryan-ZL-LIN/phase1-subtask-green-0209.so101-paper-drag-phase1phase1_pick_place_A1_10fps
Phase1 Pick Place A1 10Fps
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Pick up the red block and place it on the blue dish."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 100 (28,459 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on Isaac Sim 5.1 /… See the full description on the dataset page: https://huggingface.co/datasets/HyeonseokE/phase1_pick_place_A1_10fps.so101-paper-drag-phase1-absolutephase1_pick_place_A1_10fps_via4cm
Phase1 Pick Place A1 10Fps Via4Cm
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Pick up the red block and place it on the blue dish."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 100 (28,530 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on Isaac Sim 5.1… See the full description on the dataset page: https://huggingface.co/datasets/HyeonseokE/phase1_pick_place_A1_10fps_via4cm.phase1_pick_place_A2_10fps_via4cm
Phase1 Pick Place A2 10Fps Via4Cm
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Pick up the red block and place it on the blue dish."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 100 (28,755 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on Isaac Sim 5.1… See the full description on the dataset page: https://huggingface.co/datasets/HyeonseokE/phase1_pick_place_A2_10fps_via4cm.pyramid-dataset-phase1_20260820_120343This 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/heba000/pyramid-dataset-phase1_20260820_120343.Phase_1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 23,
"total_frames": 4837,
"total_tasks": 1,
"total_videos": 46,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:23"
},
"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/Tristan-Lemelle/Phase_1.pull_cube_ours_phase1_80_10fps
Pull Cube Ours Phase1 80 10Fps
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Pull the cube to the target marker."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 80 (25,568 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on Isaac Sim 5.1 / IsaacLab 2.3.2… See the full description on the dataset page: https://huggingface.co/datasets/HyeonseokE/pull_cube_ours_phase1_80_10fps.extract_cube_ours_phase1_80_10fps
Extract Cube Ours Phase1 80 10Fps
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Extract the cube from the pocket and place it on the target marker."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 80 (25,138 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on… See the full description on the dataset page: https://huggingface.co/datasets/HyeonseokE/extract_cube_ours_phase1_80_10fps.pyramid-dataset-phase1-combined-v2This 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/heba000/pyramid-dataset-phase1-combined-v2.pick_place_ours_phase1_80_10fps
Pick Place Ours Phase1 80 10Fps
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Pick up the red block and place it on the blue dish."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 80 (22,998 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on Isaac Sim 5.1 /… See the full description on the dataset page: https://huggingface.co/datasets/HyeonseokE/pick_place_ours_phase1_80_10fps.pyramid-dataset-phase1_20260818_153824This 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/heba000/pyramid-dataset-phase1_20260818_153824.UR7e_phase1_Sort_RGBblock_10fpsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ur7e",
"total_episodes": 20,
"total_frames": 11441,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:20"
},
"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/Cache-SCA/UR7e_phase1_Sort_RGBblock_10fps.rq2_extract_cube_phase1_20_10fps
Rq2 Extract Cube Phase1 20 10Fps
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Extract the cube from the pocket and place it on the target marker."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 20 (6,281 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on… See the full description on the dataset page: https://huggingface.co/datasets/HyeonseokE/rq2_extract_cube_phase1_20_10fps.pyramid-dataset-phase1_20260820_153806This 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/heba000/pyramid-dataset-phase1_20260820_153806.pyramid-dataset-phase1_20260820_124046This 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/heba000/pyramid-dataset-phase1_20260820_124046.pyramid-dataset-phase1_20260820_152200This 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/heba000/pyramid-dataset-phase1_20260820_152200.pyramid-dataset-phase1-combinedThis 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/heba000/pyramid-dataset-phase1-combined.pyramid-dataset-phase1_20260820_122220This 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/heba000/pyramid-dataset-phase1_20260820_122220.pyramid-dataset-phase1_20260820_150139This 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/heba000/pyramid-dataset-phase1_20260820_150139.pyramid-dataset-phase1_20260820_114650This 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/heba000/pyramid-dataset-phase1_20260820_114650.IsaacLab-SO101-Phase1-sort_by_color-80episode-10fps
Isaaclab So101 Phase1 Sort By Color 80Episode 10Fps
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Sort the blocks onto the matching colored dishes."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 80 (67,786 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/IsaacLab-SO101-Phase1-sort_by_color-80episode-10fps.IsaacLab-SO101-Phase1-pick_place-80episode-10fps
FPS Downsample Derivation
This derivative dataset downsamples an existing LeRobot v3 dataset without modifying the source dataset.
Source repo: CoRL2026-CSI/IsaacLab-SO101-Phase1-pick_place-80episode
Output repo: CoRL2026-CSI/IsaacLab-SO101-Phase1-pick_place-80episode-10fps
Source FPS: 30
Target FPS: 10
Frame stride: 3
Action source offset frames: 2
Alignment: state[t] = source_state[i], action[t] = source_action[min(i + 2, episode_end)], next kept state = source_state[i + 3]… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/IsaacLab-SO101-Phase1-pick_place-80episode-10fps.pyramid-dataset-phase1_20260818_152743This 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/heba000/pyramid-dataset-phase1_20260818_152743.pyramid-dataset-phase1_20260820_113927This 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/heba000/pyramid-dataset-phase1_20260820_113927.table2_pnp_phase1_100pyramid-dataset-phase1_20260818_152059This 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/heba000/pyramid-dataset-phase1_20260818_152059.cloid-phase1-4