datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
articulated-boxes
projectsim Articulated Boxes
Try it before you download. Open the Boxes tab in projectsim Lab,
fold every flap, then copy a one-line download command for Isaac Sim, MuJoCo, usdview or Blender.
projectsim by Kaedim — sim-ready 3D assets for robot learning. Open in your engine in one paste.
Ten articulated cardboard shipping boxes (RSC four-flap cartons). Every box is
a reduced-coordinate articulation — four flap hinges with real limits —
with per-link mass and… See the full description on the dataset page: https://huggingface.co/datasets/projectsim/articulated-boxes.so100_lego_figure_with_boxesThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 15,
"total_frames": 8940,
"total_tasks": 1,
"total_videos": 45,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:15"
},
"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/hrhraj/so100_lego_figure_with_boxes.so101_sock_stowing2_boxesThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 59,
"total_frames": 34574,
"total_tasks": 1,
"total_videos": 177,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:59"
},
"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/littledragon/so101_sock_stowing2_boxes.181-Episode-124-sort_boxes_conveyor_v3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 124,
"total_frames": 43632,
"total_tasks": 1,
"total_videos": 248,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:124"
},
"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-worldwide-hackathon/181-Episode-124-sort_boxes_conveyor_v3.basic_turing_boxes_17This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 45,
"total_frames": 10595,
"total_tasks": 1,
"total_videos": 90,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:45"
},
"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/InsaneBrain14/basic_turing_boxes_17.sort_boxes_conveyor_v1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 23,
"total_frames": 20654,
"total_tasks": 1,
"total_videos": 0,
"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": null,
"features": {… See the full description on the dataset page: https://huggingface.co/datasets/OmKulkarni/sort_boxes_conveyor_v1.Gr00t_lerobot_state_action_all_bottom_boxes_22april_12pmThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "xarm",
"total_episodes": 899,
"total_frames": 263674,
"total_tasks": 5,
"total_videos": 2697,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:899"},
"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/Anas0711/Gr00t_lerobot_state_action_all_bottom_boxes_22april_12pm.sim_arrange_boxesThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 30,
"total_frames": 47411,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:30"},
"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/puneetpanwar/sim_arrange_boxes.malaria-bounding-boxespick_scan_and_place_warehouse_boxes____06_01_smthngThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "mycobot320",
"total_episodes": 26,
"total_frames": 11606,
"total_tasks": 1,
"total_videos": 52,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:26"},
"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/GreenIsGood/pick_scan_and_place_warehouse_boxes____06_01_smthng.so100_red_dice_with_boxesThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 15,
"total_frames": 8940,
"total_tasks": 1,
"total_videos": 45,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:15"
},
"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/hrhraj/so100_red_dice_with_boxes.so100_toy_red_car_with_boxesThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 15,
"total_frames": 8940,
"total_tasks": 1,
"total_videos": 45,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:15"
},
"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/hrhraj/so100_toy_red_car_with_boxes.so101_sock_stowing_3pair2_boxesThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 36,
"total_frames": 17919,
"total_tasks": 1,
"total_videos": 108,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:36"
},
"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/leolin6/so101_sock_stowing_3pair2_boxes.so101-pick-place-between-boxesThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.images.overhead": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {… See the full description on the dataset page: https://huggingface.co/datasets/aryanmadhavverma/so101-pick-place-between-boxes.grasp_boxes_07This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 50,
"total_frames": 31039,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:50"
},
"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/IvanLee/grasp_boxes_07.Pick_place_black_boxesThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 30,
"total_frames": 18328,
"total_tasks": 1,
"total_videos": 90,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:30"
},
"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/OmKulkarni/Pick_place_black_boxes.sort_boxes_mujocobb-challenge-boxes
Bb Challenge Boxes
Object detection dataset hosted at blackbeedrones/bb-challenge-boxes.
Dataset Structure
Split
Images
train
1565
validation
149
test
75
Total images: 1789
Classes: box
Annotation format: COCO bbox [x_min, y_min, width, height].
Usage
Load with HuggingFace Datasets
from datasets import load_dataset
dataset = load_dataset("blackbeedrones/bb-challenge-boxes")
example = dataset["train"][0]… See the full description on the dataset page: https://huggingface.co/datasets/blackbeedrones/bb-challenge-boxes.so101_sock_stowing_3pair2_boxesThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 36,
"total_frames": 17919,
"total_tasks": 1,
"total_videos": 108,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:36"},
"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/littledragon/so101_sock_stowing_3pair2_boxes.two_boxesThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 50,
"total_frames": 15250,
"total_tasks":1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"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/qoranreh/two_boxes.so100_green_dice_with_boxesThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 15,
"total_frames": 8940,
"total_tasks": 1,
"total_videos": 45,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:15"
},
"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/hrhraj/so100_green_dice_with_boxes.boxes_train_controlnet_dataset
Dataset Card for "boxes_train_controlnet_dataset"
More Information needed
basic_turing_boxes_13This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 1,
"total_frames": 452,
"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/InsaneBrain14/basic_turing_boxes_13.pick_scan_and_place_warehouse_boxes_09_06_01_smthngThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "mycobot320",
"total_episodes": 13,
"total_frames": 17362,
"total_tasks": 1,
"total_videos": 26,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:13"},
"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/GreenIsGood/pick_scan_and_place_warehouse_boxes_09_06_01_smthng.Three_Boxes_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 100,
"total_frames": 50835,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:100"
},
"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/hrx2000/Three_Boxes_2.transporting_cardboard_boxes_task_fixedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 50,
"total_frames": 28186,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:50"
},
"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/mirStephan/transporting_cardboard_boxes_task_fixed.boxes_full_controlnet_dataset
Dataset Card for "boxes_full_controlnet_dataset"
FWIW, I didn't get good results with this after 20K training steps for some reason, but feel free to give it a shot!
More Information needed
grasp_boxes_09This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 20,
"total_frames": 10005,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"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/IvanLee/grasp_boxes_09.Damaged_Parcel_boxesgrasp_boxes_02This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 30,
"total_frames": 21553,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:30"
},
"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/IvanLee/grasp_boxes_02.