datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
MolmoAct2-BimanualYAM-DatasetThis dataset was created using LeRobot.
MolmoAct2-BimanualYAM Dataset
This repository is the merged ckpt / merged LeRobot dataset artifact for the MolmoAct2-BimanualYAM Dataset, a large-scale collection of bimanual robot manipulation demonstrations collected for MolmoAct2. Across the full collection, MolmoAct2-BimanualYAM contains more than 720 hours of training demonstrations spanning diverse tabletop manipulation tasks.
Language Annotations
This dataset includes… See the full description on the dataset page: https://huggingface.co/datasets/allenai/MolmoAct2-BimanualYAM-Dataset.table_spill_cleanup_bimanual
Exylos Bimanual Spill Cleanup — Rich-Modality 50-Episode Sample
50 episodes of a bimanual Franka Panda wiping a liquid spill off a tabletop. Synthetic, VR-teleop demonstrations retargeted to two 7-DoF arms — 6 RGB views (3 with depth + segmentation), 6-DoF object poses, and a ground-truth dirty_fraction cleanliness signal, packaged in LeRobot v2.1.
Release note: this rich-modality v2 release replaces the original public 50-episode preview in place. The previous dataset… See the full description on the dataset page: https://huggingface.co/datasets/ExylosAi/table_spill_cleanup_bimanual.towel_half_fold_bimanual_4views_20260911_115811This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"left_shoulder_pan.pos",
"left_shoulder_lift.pos",
"left_elbow_flex.pos",
"left_wrist_flex.pos",
"left_wrist_roll.pos",
"left_gripper.pos"… See the full description on the dataset page: https://huggingface.co/datasets/Woohi123/towel_half_fold_bimanual_4views_20260911_115811.bimanual_towel_folding-extendso101-bimanual-v3-all-trajectories
SO-100/SO-101 Bimanual Canonical v3 — All Trajectories
This release is a provenance-traceable aggregation of public SO-100 and SO-101
bimanual manipulation datasets. It contains a model-agnostic LeRobot v3
canonical dataset and versioned, non-destructive joint-delta training views.
Four primary sibling representations serve different purposes. Every training
view is independently derived from canonical raw data; none is an intermediate
for another:
Canonical dataset: the… See the full description on the dataset page: https://huggingface.co/datasets/shuaishuaicdp/so101-bimanual-v3-all-trajectories.07-08-2026_OCR_BimanualThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "aibot2",
"total_episodes": 37,
"total_frames": 17770,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:37"
},
"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/alphabot2/07-08-2026_OCR_Bimanual.utokyo_xarm_bimanualThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 70,
"total_frames": 1514,
"total_tasks": 2,
"total_videos": 70,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"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/lerobot/utokyo_xarm_bimanual.bimanual_test_boothThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
12
],
"names": [
"left_shoulder_pan.pos",
"left_shoulder_lift.pos",
"left_elbow_flex.pos",
"left_wrist_flex.pos",
"left_wrist_roll.pos"… See the full description on the dataset page: https://huggingface.co/datasets/makermods/bimanual_test_booth.bimanual-table-cleanup-cross-embodiment-rich-modality-sample
Cross-Embodiment Bimanual Table Cleanup — Rich-Modality 10-Episode Inspection Sample
10 full-modality cross-embodiment bimanual table-cleanup episodes: 5 Franka Panda + 5 WidowXAI, 21,267 frames, 6 RGB views per robot, task-camera depth and segmentation, native robot state/action, end-effector trajectories, 6-DoF object poses, and QA annotations.
✅ Use it / ❌ Skip it
Use it for
Inspecting loaders, schemas, camera coverage, depth, segmentation, object poses… See the full description on the dataset page: https://huggingface.co/datasets/ExylosAi/bimanual-table-cleanup-cross-embodiment-rich-modality-sample.bimanual_test_20260708_175753This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
12
],
"names": [
"left_shoulder_pan.pos",
"left_shoulder_lift.pos",
"left_elbow_flex.pos",
"left_wrist_flex.pos",
"left_wrist_roll.pos"… See the full description on the dataset page: https://huggingface.co/datasets/makermods/bimanual_test_20260708_175753.Libra_bimanual_fairinoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "FAIRINO_BIMANUAL_SIM",
"total_episodes": 100,
"total_frames": 26368,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/Libra-TeV/Libra_bimanual_fairino.bimodal-iftAn instruction dataset for speech->text and text->speech.
This speech data is tokenized using the SpeechTokenize approach: https://arxiv.org/abs/2308.16692.
You can do standard finetuning on this dataset using any LLM!
Libra_bimanual_fairino_plug_in_container_r_a_angle_variationsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "FAIRINO_BIMANUAL_SIM",
"total_episodes": 95,
"total_frames": 20345,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:95"
},
"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/Libra-TeV/Libra_bimanual_fairino_plug_in_container_r_a_angle_variations.bimanual_towel_foldingdvrk_bimanual_three_camera_state20This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 74,
"total_frames": 42512,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:74"
},
"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/masondx/dvrk_bimanual_three_camera_state20.so100_bimanual_ball2boxThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100_bimanual",
"total_episodes": 2,
"total_frames": 1788,
"total_tasks": 1,
"total_videos": 8,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"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/InterestingPopo/so100_bimanual_ball2box.yam_bimanual_tool_rack
Dataset Card for YAM bimanual — tool-rack placement
Preview
Egocentric camera view — bimanual robot picking a screwdriver off the bench and inserting it into the tool rack.
Interactive visualizer: huggingface.co/spaces/lerobot/visualize_dataset
66 teleoperated episodes of a bimanual robot arm picking a screwdriver off a
bench and inserting it into a tool rack. Recorded on real hardware at 40 Hz with
three RGB cameras, converted to LeRobot v3.0. This repository… See the full description on the dataset page: https://huggingface.co/datasets/knpt/yam_bimanual_tool_rack.bimanual-smooth-fold-clothes-so101-testThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "bi_so101_follower",
"total_episodes": 10,
"total_frames": 18801,
"total_tasks": 1,
"total_videos": 30,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:10"
},
"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/LittleFire99/bimanual-smooth-fold-clothes-so101-test.bimanual-handover-2026-09-05This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "agilex_piper_bimanual",
"total_episodes": 167,
"total_frames": 246641,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:167"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/PranayTest/bimanual-handover-2026-09-05.Libra_bimanual_fairino_plug_in_container_mergedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "FAIRINO_BIMANUAL_SIM",
"total_episodes": 165,
"total_frames": 31881,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:165"
},
"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/Libra-TeV/Libra_bimanual_fairino_plug_in_container_merged.Libra_bimanual_fairino_plug_in_container_right_armThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "FAIRINO_BIMANUAL_SIM",
"total_episodes": 70,
"total_frames": 11468,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:70"
},
"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/Libra-TeV/Libra_bimanual_fairino_plug_in_container_right_arm.bimanual_block_stackThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "custom_eef",
"total_episodes": 203,
"total_frames": 50245,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:203"
},
"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/ywxia/bimanual_block_stack.bimanual_assembly_insert_force_lerobot_mix854This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.images.ego": {
"dtype": "video",
"shape": [
640,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 640… See the full description on the dataset page: https://huggingface.co/datasets/rpwang/bimanual_assembly_insert_force_lerobot_mix854.bimanual_tiltThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"left_shoulder_pan.pos",
"left_shoulder_lift.pos",
"left_elbow_flex.pos",
"left_wrist_flex.pos",
"left_wrist_roll.pos",
"left_gripper.pos"… See the full description on the dataset page: https://huggingface.co/datasets/jun-seo/bimanual_tilt.bimanual-handover-2026-09-07This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "agilex_piper_bimanual",
"total_episodes": 103,
"total_frames": 177780,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:103"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/PranayTest/bimanual-handover-2026-09-07.bimanual-handover-2026-08-31This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "agilex_piper_bimanual",
"total_episodes": 179,
"total_frames": 294222,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:179"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/PranayTest/bimanual-handover-2026-08-31.table_spill_cleanup_bimanual_rgbd_segmentation_poses
Exylos Bimanual Table Spill Cleanup Rich-Modality Sample
A compact, rich-modality bimanual robot manipulation dataset for tabletop spill cleanup.
Each episode combines synchronized dual-arm Panda state/action trajectories, 7 RGB camera streams, per-frame depth maps, per-frame segmentation masks, object pose streams, phase annotations, and an objective cleanup success metric based on the remaining spill fraction.
This dataset is a rich-modality inspection sample for the Exylos… See the full description on the dataset page: https://huggingface.co/datasets/ExylosAi/table_spill_cleanup_bimanual_rgbd_segmentation_poses.test_mobile_bimanual_convertedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "bi_so101_follower",
"total_episodes": 25,
"total_frames": 15177,
"total_tasks": 1,
"total_videos": 75,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:25"
},
"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/ac-pate/test_mobile_bimanual_converted.so101_bimanual_folding-cloth-720pThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "bi_so100_follower",
"total_episodes": 51,
"total_frames": 119285,
"total_tasks": 1,
"total_videos": 153,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:51"
},
"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/ffifdyop/so101_bimanual_folding-cloth-720p.quest-bimanual-dataThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"left_shoulder_pan.pos",
"left_shoulder_lift.pos",
"left_elbow_flex.pos",
"left_wrist_flex.pos",
"left_wrist_yaw.pos",
"left_wrist_roll.pos"… See the full description on the dataset page: https://huggingface.co/datasets/deepakshankar94/quest-bimanual-data.