datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
HiFi-UMI-2K
HiFi-UMI-2K: High-Fidelity Robot-Free Manipulation Data
2,000 hours released · 6 synchronized camera views · 480+ scenes · 3 mm pose accuracy · <40 µs synchronization
🌐 Project Website |
📦 Dataset |
📄 Paper: arXiv:2607.25895
Examples from the HiFi-UMI corpus. Click the image to play the video.
📚 Introduction
HiFi-UMI is a portable, high-fidelity bimanual capture system for collecting robot-free manipulation demonstrations.… See the full description on the dataset page: https://huggingface.co/datasets/simple-world-lab/HiFi-UMI-2K.SimpleStories
📘📕 SimpleStories 📙📗
SimpleStories is a dataset of >2 million model-generated short stories. It was made to train small, interpretable language models on it. The generation process is open-source: To see how the dataset was generated, or to generate some stories yourself, head over to this repository.
If you'd like to commission other languages or story formats, feel free to send mail.
When using SimpleStories in your work, please cite the SimpleStories paper:… See the full description on the dataset page: https://huggingface.co/datasets/SimpleStories/SimpleStories.omnifall
OmniFall: A Unified Benchmark for Staged-to-Wild Fall Detection
OmniFall is a comprehensive fall detection benchmark with dense temporal segment annotations across three components: OF-Staged (8 public lab datasets), OF-In-the-Wild (genuine accidents from OOPS), and OF-Synthetic (12,000 diffusion-generated videos with demographic diversity). All components share a sixteen-class activity taxonomy.
[Paper] [Project Page]
Quickstart… See the full description on the dataset page: https://huggingface.co/datasets/simplexsigil2/omnifall.glm-simple-evals-dataset
glm-simple-evals-dataset
This repository is dedicated to storing various evaluation data required for the glm-simple-evals evaluation project, to enable industry researchers and developers to reproduce the performance of the GLM-4.5 series models on reported benchmarks.
Currently, this repository covers the data required for the following evaluation tasks:
AIME
GPQA
HLE
LiveCodeBench
MATH 500
SciCode
MMLU Pro
Usage Instructions
To use these evaluation datasets… See the full description on the dataset page: https://huggingface.co/datasets/zai-org/glm-simple-evals-dataset.so100_cutlery_handling_simpleThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 50,
"total_frames": 29853,
"total_tasks": 1,
"total_videos": 50,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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/masato-ka/so100_cutlery_handling_simple.hepha_act_100_simple_drawer_5
tmeynier/hepha_act_100_simple_drawer_5
LeRobot-style behavior-cloning dataset generated from the Hepha MuJoCo simulation.
Summary
Robot type: hepha_mujoco
Codebase version: v3.0
Episodes: 100
Frames: 200000
FPS: 30
Joint normalization: min_max_0_1
Features
timestamp: float32 [1]
frame_index: int64 [1]
episode_index: int64 [1]
index: int64 [1]
task_index: int64 [1]
episode.drawer_index: int64 [1]
episode.cube_position: float32 [3]… See the full description on the dataset page: https://huggingface.co/datasets/tmeynier/hepha_act_100_simple_drawer_5.simplewiki
Simple English Wikipedia as clean md
This dataset is a cleaned, structurally faithful approximation of the Simple English Wikipedia article corpus in Answer.AI's canonical md dialect. It was produced from the Wikimedia dump dated 20260901 by Answer.AI's wiki2dataset pipeline.
It is designed for language-model training and for agent/RAG systems. The articles configuration provides complete documents for continued pretraining, corpus analysis, rechunking, and task-specific dataset… See the full description on the dataset page: https://huggingface.co/datasets/answerdotai/simplewiki.sort_b601_simpleThis 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_yaw.pos",
"wrist_roll.pos",
"gripper.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/adrfm/sort_b601_simple.sort_b601_simple_makelabThis 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_yaw.pos",
"wrist_roll.pos",
"gripper.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/adrfm/sort_b601_simple_makelab.rollout_sort_b601_simple_filtered_act_v2_changed_envThis 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_yaw.pos",
"wrist_roll.pos",
"gripper.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/adrfm/rollout_sort_b601_simple_filtered_act_v2_changed_env.koch_pnp_simple_50This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "koch",
"total_episodes": 50,
"total_frames": 13101,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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/hannesill/koch_pnp_simple_50.rollout_sort_b601_simple_filtered_act_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_yaw.pos",
"wrist_roll.pos",
"gripper.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/adrfm/rollout_sort_b601_simple_filtered_act_v2.hepha_act_200_simple_drawer_5
tmeynier/hepha_act_200_simple_drawer_5
LeRobot-style behavior-cloning dataset generated from the Hepha MuJoCo simulation.
Summary
Robot type: hepha_mujoco
Codebase version: v3.0
Episodes: 200
Frames: 253867
FPS: 30
Joint normalization: min_max_0_1
Features
timestamp: float32 [1]
frame_index: int64 [1]
episode_index: int64 [1]
index: int64 [1]
task_index: int64 [1]
episode.drawer_index: int64 [1]
episode.cube_position: float32 [3]… See the full description on the dataset page: https://huggingface.co/datasets/tmeynier/hepha_act_200_simple_drawer_5.pensInHolder-simple-localThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 1,
"total_frames": 899,
"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/sebastiandavidlee/pensInHolder-simple-local.simple_2d_dataset_lv2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 1000,
"total_frames": 32099,
"total_tasks": 1,
"total_videos": 1000,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1000"
},
"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/seann999/simple_2d_dataset_lv2.sort_b601_simple_filteredThis 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_yaw.pos",
"wrist_roll.pos",
"gripper.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/adrfm/sort_b601_simple_filtered.sort_b601_simple_makelab_diepenbeekThis 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_yaw.pos",
"wrist_roll.pos",
"gripper.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/adrfm/sort_b601_simple_makelab_diepenbeek.multilingual-textarena-SimpleTak-v0-train-v2
TextArena Language Trajectories
This dataset contains language-conditioned TextArena trajectory data.
Each dataset configuration corresponds to a different model, experiment group, or source folder.
Available configurations:
gemma4-e4b-it
qwen3-4b
ministral3-3b-instruct
Usage
Install the datasets library:
pip install datasets
Load a specific configuration:
from datasets import load_dataset
dataset =… See the full description on the dataset page: https://huggingface.co/datasets/The-CoLab/multilingual-textarena-SimpleTak-v0-train-v2.fixture-experiment-prism-simple-50_20260902_214241This 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/filesmuggler/fixture-experiment-prism-simple-50_20260902_214241.sort_b601_simple_20260828_104340This 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_yaw.pos",
"wrist_roll.pos",
"gripper.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/adrfm/sort_b601_simple_20260828_104340.pensInHolder-simple-one-two
pensInHolder-simple-one-two
This dataset was generated using a phospho starter pack.
This dataset contains a series of episodes recorded with a robot and multiple cameras. It can be directly used to train a policy using imitation learning. It's compatible with LeRobot and RLDS.
SimpleStories-JA
📘📕 SimpleStories 📙📗
このデータセットは、gpt-4o-miniによって生成された短編小説で出来ているデータセットです。生成方法や、自分で物語を生成する方法については、こちらのリポジトリをご覧ください。
他の言語や物語形式の制作を希望される場合は、メールにてお問い合わせください。
SimpleStoriesは、EldenとLiによるTinyStoriesの改良版です。
特徴
物語の注釈情報（theme、topic、styleなど）
多様性の高さ
2024年のモデルによって生成
NLPのデータが用意しているためフィルタリングしやすい
以下の言語版が利用可能：
英語
日本語
他にも追加予定
This dataset is a collection of short stories generated by gpt-4o-mini (+ other models, soon). To see how this dataset was generated, or to generate some stories… See the full description on the dataset page: https://huggingface.co/datasets/SimpleStories/SimpleStories-JA.so100_jenga_box_simpleThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 5,
"total_frames": 1711,
"total_tasks": 1,
"total_videos": 5,
"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/asafxrev/so100_jenga_box_simple.mecharm_simple_pnpThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"joint_1.pos",
"joint_2.pos",
"joint_3.pos",
"joint_4.pos",
"joint_5.pos",
"joint_6.pos",
"gripper.pos"
],
"shape": [… See the full description on the dataset page: https://huggingface.co/datasets/Lanuchi/mecharm_simple_pnp.multilingual-textarena-SimpleTak-v0-train
TextArena Language Trajectories
This dataset contains language-conditioned TextArena trajectory data.
Each dataset configuration corresponds to a different model, experiment group, or source folder.
Available configurations:
gemma4-e4b-it
qwen3-4b
ministral3-3b-instruct
Usage
Install the datasets library:
pip install datasets
Load a specific configuration:
from datasets import load_dataset
dataset =… See the full description on the dataset page: https://huggingface.co/datasets/The-CoLab/multilingual-textarena-SimpleTak-v0-train.mimic_simpleClothFolding_v1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "mimic_follower",
"total_episodes": 222,
"total_frames": 384490,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:222"
},
"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/Mimic-Robotics/mimic_simpleClothFolding_v1.formal-logic-simple-order-multi-token-dynamic-objects-paired-relationship-0-100000simple_dataset_pick_and_place_distractorsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100_follower",
"total_episodes": 37,
"total_frames": 20732,
"total_tasks": 1,
"total_videos": 74,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:37"
},
"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/Clementppr/simple_dataset_pick_and_place_distractors.babybel_simple2simple-pick-up-27This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100_follower",
"total_episodes": 20,
"total_frames": 2474,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:20"
},
"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/aiwhisperer/simple-pick-up-27.