datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
G1_Dex1_Organize_ToolsThis 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_Dex1_Organize_Tools.browsecomp-plus-selected-tools-analysis-v1
BrowseComp-Plus: Selected Tools Analysis
Side-by-side view of selected tool calls from a reference trajectory alongside the new agent trajectory conditioned on those steps.
Retrieval model: Qwen3-Embedding-8BAgent model: gpt-oss-120bRun: traj_summary_ext_selected_tools_gpt-oss-120b_seed0
Columns
Column
Description
query_id
Query identifier
rationale
GPT rationale for why these k steps were selected from the reference trajectory
selected_indices
Step indices… See the full description on the dataset page: https://huggingface.co/datasets/timchen0618/browsecomp-plus-selected-tools-analysis-v1.Hand_Tools
ABC-iRobotics/Hand_Tools: dataset 0000
Metric RGB-D scene dataset generated with the Label Factory workflow.
The files for this capture are stored below the 0000/ directory so
multiple numbered datasets can coexist in this repository.
Training configurations
depth_estimation: RGB input, metric depth target, intrinsics and depth units
instance_segmentation: RGB input, instance-mask target, boxes and annotations
object_pose_estimation: RGB-D input, masks, camera… See the full description on the dataset page: https://huggingface.co/datasets/ABC-iRobotics/Hand_Tools.Hand_tools
KarolyArmin/Hand_tools
Growing multi-task RGB-D collection generated with the Label Factory workflow.
Every capture is stored in its own zero-padded directory (0000, 0001,
0002, ...). Uploading a new capture appends it to the collection without
replacing earlier directories. Task configurations aggregate compatible
Parquet shards from every numbered directory.
Training configurations
depth_estimation: RGB input, metric depth target, intrinsics and depth units… See the full description on the dataset page: https://huggingface.co/datasets/KarolyArmin/Hand_tools.unitree_put_away_tools_lerobot_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex1_Sim",
"total_episodes": 48,
"total_frames": 24271,
"total_tasks": 1,
"total_videos": 144,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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/XiaoweiLinXL/unitree_put_away_tools_lerobot_v2.tool-scraper_daniel_20260827_124546This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"joint_0.pos",
"joint_1.pos",
"joint_2.pos",
"joint_3.pos",
"joint_4.pos",
"joint_5.pos",
"left_carriage_joint.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/rbtrprjkt/tool-scraper_daniel_20260827_124546.so101_pickplace_toolsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 90,
"total_frames": 57019,
"total_tasks": 1,
"total_videos": 182,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:90"
},
"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/ankithreddy/so101_pickplace_tools.put-away-tools-v2_new_camThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex1_Sim",
"total_episodes": 100,
"total_frames": 66321,
"total_tasks": 1,
"total_videos": 300,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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/XiaoweiLinXL/put-away-tools-v2_new_cam.put_away_tools_v2_new_cam_grootThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex1_Sim",
"total_episodes": 100,
"total_frames": 66321,
"total_tasks": 1,
"total_videos": 300,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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/XiaoweiLinXL/put_away_tools_v2_new_cam_groot.ttz_tools_mergedThis 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/JanPhilipp/ttz_tools_merged.ttz_tools_merged_2This 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/JanPhilipp/ttz_tools_merged_2.Multivariate_time_series_data_of_milling_processes_with_varying_tool_wear_and_machine_tools
Flattened version of the "Multivariate time series data of milling processes with varying tool wear and machine tools" dataset in the .parquet file format. Original dataset: https://doi.org/10.17632/zpxs87bjt8.3 and original paper: https://doi.org/10.1016/j.dib.2023.109574
Description
The presented dataset provides labeled, multivariate time series data of milling processes with varying tool wear and for varying machine tools. The width of the flank wear land VB… See the full description on the dataset page: https://huggingface.co/datasets/alpha-by-beta/Multivariate_time_series_data_of_milling_processes_with_varying_tool_wear_and_machine_tools.ttz-tools-sep-7-04_20260907_124202This 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/AlexanderRoempke/ttz-tools-sep-7-04_20260907_124202.ttz-tools-sep-7-01_20260907_103419This 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/AlexanderRoempke/ttz-tools-sep-7-01_20260907_103419.ttz-tools-sep-7-03_20260907_114655This 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/AlexanderRoempke/ttz-tools-sep-7-03_20260907_114655.ttz-tools-sep-7-05_20260907_130306This 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/AlexanderRoempke/ttz-tools-sep-7-05_20260907_130306.ttz-tools-sep-7-02_20260907_112310This 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/AlexanderRoempke/ttz-tools-sep-7-02_20260907_112310.ttz_tools_1This 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/JanPhilipp/ttz_tools_1.pi05-unitree-g1-put-away-tools-v2.1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex1_Sim",
"total_episodes": 70,
"total_frames": 43851,
"total_tasks": 1,
"total_videos": 210,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:70"
},
"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/XiaoweiLinXL/pi05-unitree-g1-put-away-tools-v2.1.2026-08-26-box-1_20260826_205236This 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/tools-uk/2026-08-26-box-1_20260826_205236.2026-08-26-box-2_20260826_205754This 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/tools-uk/2026-08-26-box-2_20260826_205754.tool-reasoning-sft-TOOLS-toolace-sft-tool-use-agent-data-cleaned-rectified
ToolACE - Tool-Use Agent Data Cleaned & Rectified
👥 Follow the Author
Aman Priyanshu
Overview
This dataset is a cleaned and restructured version of the Team-ACE/ToolACE dataset. ToolACE is a high-quality conversational tool-use dataset containing 11,300+ examples of natural language interactions requiring function calling across diverse domains. This version converts the original OpenAI function-call format into a standardized multi-turn tool-use… See the full description on the dataset page: https://huggingface.co/datasets/AmanPriyanshu/tool-reasoning-sft-TOOLS-toolace-sft-tool-use-agent-data-cleaned-rectified.openart-tools
OpenART Materialized Tools
Materialized tool-store companion dataset for OpenART Arena.
This dataset contains materialized OpenART tool directories packaged as zip shards,
with Dataset Viewer metadata in Parquet. It is intended for reproducing OpenART
Arena tool-loading experiments without rerunning large-scale tool materialization.
Paper: https://arxiv.org/abs/2608.00677
Contents
data/tools/metadata-00000.parquet: one metadata row per exported tool.… See the full description on the dataset page: https://huggingface.co/datasets/dongdongunique/openart-tools.E_all_tools_20260918_160329This 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/JanPhilipp/E_all_tools_20260918_160329.E3_all_tools_20260921_124906This 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/JanPhilipp/E3_all_tools_20260921_124906.E_all_tools_20260918_155521This 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/JanPhilipp/E_all_tools_20260918_155521.E_all_tools_20260918_154305This 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/JanPhilipp/E_all_tools_20260918_154305.rollout_sort_boards_tools_parts_25ep_arm2This 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/Manasa0107/rollout_sort_boards_tools_parts_25ep_arm2.browsecomp-plus-sel-tools-test300-random-seed1-v1E3_all_tools_fix13This 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/JanPhilipp/E3_all_tools_fix13.