datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
CloudSEN12Plus
🚨 New Dataset Version Released!
We are excited to announce the release of Version [1.1] of our dataset!
This update includes:
[L2A & L1C support].
[Temporal support].
[Check the data without downloading (Cloud-optimized properties)].
📥 Go to: https://huggingface.co/datasets/tacofoundation/cloudsen12 and follow the instructions in colab
CloudSEN12+ is a significant extension of the CloudSEN12 dataset, which doubles the number of… See the full description on the dataset page: https://huggingface.co/datasets/isp-uv-es/CloudSEN12Plus.PhyX
PhyX: Does Your Model Have the "Wits" for Physical Reasoning?
Dataset for the paper "PhyX: Does Your Model Have the "Wits" for Physical Reasoning?".
For more details, please refer to the project page with dataset exploration and visualization tools: PhyX Project Page.
[🌐 Project Page] [📖 Paper] [🔧 Evaluation Code] [🌐 Blog (中文)]
🔔 News
[2026.02.15] 🎉 The Seed 2.0 technical report has been released and it outperforms GPT-5.2-High by 0.6% on PhyX, congratulations!… See the full description on the dataset page: https://huggingface.co/datasets/Cloudriver/PhyX.devanagari_pretrainnepali-corpus-compilepsi0-g1-sneaker-205ep-v2-source
Psi0 G1 Sneaker-in-Box — 205 episodes (v2 canonical source)
⚠️ Do not use this dataset directly for training. This is the canonical immutable union of the v1 and v2 collections, kept as a source of truth for reproducibility. For v2 fine-tuning use psi0-g1-sneaker-199ep-v2; for held-out evaluation use psi0-g1-sneaker-6ep-v2-eval. Together these two derivatives reconstruct this canonical dataset exactly: 199 + 6 = 205.
205 teleoperated episodes of a Unitree G1 humanoid (with Inspire… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/psi0-g1-sneaker-205ep-v2-source.longrca-bench
LongRCA Bench
A benchmark for diagnosing responsible roles and root causes in long-horizon agent failures.
1,140 observed, non-injected failed trajectories from SWE-bench Pro, Terminal-Bench 2, TravelPlanner, VitaBench, and WebArena Verified.
Human annotations identifying the responsible role, earliest decisive root-cause step, and supporting rationale.
LongRCA-Mini: a fixed 200-trajectory subset, randomly sampled without replacement with 40 from each benchmark, preserving the… See the full description on the dataset page: https://huggingface.co/datasets/CLoud5-real/longrca-bench.gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-5
Grab-Bottle (right hand) - zero-wandering, smoothing half-width 5
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task, curated to
remove non-purposeful arm motion ("wandering") so a trained policy does not learn
unstable behavior. Derived from the
105-episode source teleoperation set
by running the kinematic zero-wandering pipeline at smoothing half-width 5;
each surviving clean sub-segment is emitted as its own episode (no action chunk ever
spans a cut).
This is… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-5.gr00t-g1-grab-bottle-right-hand-speedup-3mm-v1
Grab-Bottle (right hand) - DP-resampled, 3 mm/frame wrist target
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. Merges two
teleoperation datasets and applies Dynamic Programming (DP) resampling on the
right-wrist XYZ trajectory to normalise the action density across all episodes. It is
the training data for the
v7 GR00T N1.7 fine-tune
a speedup-resampling reference baseline (trained 2026-06-25, checkpoint-20000
only).
The key idea: instead of keeping… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-speedup-3mm-v1.gr00t-g1-grab-bottle-right-hand-105ep-v1
GR00T G1 Grab-Bottle — right hand, 105 episodes (source teleoperation set)
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. This is the
base source teleoperation set of the grab-bottle lineage — 105 episodes of
real-robot demonstration, manually cleaned at the episode level (bad runs discarded),
with no automated frame-level curation applied.
It is the dataset the curated variants are derived from: the
zero-wandering-smooth-radius-{5,10,15,20} sets and the… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-105ep-v1.gr00t-g1-grab-bottle-right-hand-radius-20-merged
Grab-Bottle (right hand) - radius-20 merged
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. This is a
merge of two source teleoperation datasets, curated with the zero-wandering
pipeline at smoothing half-width 20 and safe_frames 50, then renumbered into
one contiguous set of 502 episodes. It is the largest and best-curated set of the
grab-bottle lineage and the training data for the
v6 GR00T N1.7 fine-tune.
Each surviving clean sub-segment is emitted as its… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-radius-20-merged.sangraha_nepaligr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-15
Grab-Bottle (right hand) - zero-wandering, smoothing half-width 15
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task, curated to
remove non-purposeful arm motion ("wandering") so a trained policy does not learn
unstable behavior. Derived from the
105-episode source teleoperation set
by running the kinematic zero-wandering pipeline at smoothing half-width 15;
each surviving clean sub-segment is emitted as its own episode (no action chunk ever
spans a cut).
This… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-15.gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-10
Grab-Bottle (right hand) - zero-wandering, smoothing half-width 10
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task, curated to
remove non-purposeful arm motion ("wandering") so a trained policy does not learn
unstable behavior. Derived from the
105-episode source teleoperation set
by running the kinematic zero-wandering pipeline at smoothing half-width 10;
each surviving clean sub-segment is emitted as its own episode (no action chunk ever
spans a cut).
This… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-10.synthetic-cloud-removal
Dataset Card for "synthetic-cloud-removal"
More Information needed
gr00t-g1-grab-bottle-right-hand-speedup-3mm-cycle-removed-v1
Grab-Bottle (right hand) - DP-resampled 3 mm/frame + cycle removal
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. Extends the
DP-resampled variant
by automatically detecting and removing return cycles in wrist-space - segments where
the arm travels away from a point and then returns to (approximately) the same position.
Such cycles teach the policy to backtrack rather than commit to a goal-directed motion.
No fine-tune has been produced from this variant… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-speedup-3mm-cycle-removed-v1.gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-20
Grab-Bottle (right hand) - zero-wandering, smoothing half-width 20
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task, curated to
remove non-purposeful arm motion ("wandering") so a trained policy does not learn
unstable behavior. Derived from the
105-episode source teleoperation set
by running the kinematic zero-wandering pipeline at smoothing half-width 20;
each surviving clean sub-segment is emitted as its own episode (no action chunk ever
spans a cut).
This… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-20.gr00t-g1-grab-bottle-right-hand-v2
Grab-Bottle (right hand) - v2 (distance-to-goal wandering removal)
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. Curated from
the 105-episode source set
by removing non-purposeful back-and-forth arm motion ("wandering") via a
distance-to-goal method, then splitting each episode into clean sub-episodes so
GR00T's 40-step action window never spans a cut. It is the training data for the
v2 GR00T N1.7 fine-tune
the current validated production champion (11/12… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-v2.CCAiM-CloudsDataset
CCAiM CloudsDataset
Description
This dataset contains photographs of clouds collected for the CCAiM project, a model for cloud classification. It includes various types of clouds captured from the ground and can be used for training and testing computer vision models.
Dataset Structure
Cloud images in JPEG/PNG format
Optional metadata: cloud type, date, location
Dataset Statistics
Total number of images: 916
Cloud Type
Number… See the full description on the dataset page: https://huggingface.co/datasets/serbekun/CCAiM-CloudsDataset.gr00t-g1-grab-bottle-right-hand-worst-positions-empty-115ep-v3
GR00T G1 Grab-Bottle — right hand, worst-positions, 115 episodes
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. This is a
hard-pose teleoperation set — 115 episodes collected deliberately at the bottle
positions where prior fine-tuned policies performed worst (the model would approach
the bottle but stop ~10 cm short of contact and fail to grasp). It was recorded to fill
the policy's reach-distance distribution gap. Manually cleaned at the episode level; no… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-worst-positions-empty-115ep-v3.CloudPerfTrace
CloudPerfTrace: A High-Resolution Dataset for VM Performance Prediction
CloudPerfTrace is a large-scale dataset featuring 206 system-level metrics captured at a 1-second resolution over 317 days. It is specifically designed for black-box multi-tenant cloud environments where internal VM telemetry is unavailable.
The dataset captures 11 diverse application tasks and the complex interplay between intrinsic workload variations and external resource interference, collected entirely… See the full description on the dataset page: https://huggingface.co/datasets/AmirShahbaz/CloudPerfTrace.security-paper-datasets
Dataset Card for "security-paper-datasets"
More Information needed
psi0-g1-sneaker-94ep-v1
Psi0 G1 Sneaker-in-Box — 94 episodes (v1)
94 teleoperated episodes of a Unitree G1 humanoid (with Inspire RH56DFTP hands) picking up a sneaker and placing it inside a box. Right-hand only, single-handed task. Used to fine-tune the v1 Psi0 checkpoint at the CloudWalk Robotics Lab (CW-RL), 2026-04. To our knowledge, the v1 fine-tune was the first publicly reported external reproduction of the Psi0 paper's full pipeline (collect → finetune → real-robot deploy).
Quick facts… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/psi0-g1-sneaker-94ep-v1.gr00t-g1-grab-bottle-right-hand-v10
Grab-Bottle (right hand) - v10 (Break Down: v1 wandering detection on the merged set)
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. Applies the
v1 wandering-detection method ("Break Down") to the merge of the two source
teleoperation sets: rising segments of the wrist's distance-to-goal curve are detected
and the corresponding frames are removed, and each kept sub-segment becomes its own
episode so no GR00T action chunk spans a cut.
This is the family's… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-v10.gr00t-g1-grab-bottle-right-hand-v11
Grab-Bottle (right hand) - v11 (Break Down + Speed Up: v1 wandering detection then DP resampling)
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. Combines the
v1 wandering-detection method ("Break Down") with DP frame resampling ("Speed
Up") on the merge of the two source teleoperation sets. Break Down runs first to
remove wandering blocks and split into sub-segments; DP resampling is then applied
independently to each sub-segment using a dynamic per-frame… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-v11.psi0-g1-he-pickplace-9x40ep
psi0-g1-he-pickplace-9x40ep
9 curated pick-and-place tasks from the Humanoid-Everyday (HE) dataset, re-targeted from the Unitree G1 + Dex3-1 3-finger hands onto our G1 + Inspire RH56DFTP 6-DoF lockstep schema — so it can be mixed directly into LeRobot v2.1 fine-tunes of Psi0 (or any policy trained against the Inspire convention) without further preprocessing.
v1.3 update (2026-05-15) — fixes a RH-only polarity inversion that v1.0/v1.1/v1.2 all carried silently. The Dex3-1… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/psi0-g1-he-pickplace-9x40ep.CloudBench
CloudBench: A Benchmark Dataset for Cloud Image Retrieval
Dataset Description
CloudBench is a benchmark dataset for evaluating image retrieval systems in the domain of Atmospheric Science specifically focused on clouds. The dataset consists of natural language queries paired with images, along with binary relevance labels indicating whether each image is relevant to the query. The dataset is designed to test retrieval systems' ability to find relevant images based on… See the full description on the dataset page: https://huggingface.co/datasets/sagecontinuum/CloudBench.psi0-apple-to-plate-teleop
Psi0 Apple-to-Plate VR Teleoperation Dataset
Human-demonstrated loco-manipulation trajectories for fine-tuning the Psi0 Vision-Language-Action (VLA) model on a Unitree G1 humanoid robot in Isaac Lab simulation.
Dataset Summary
Property
Value
Robot
Unitree G1 29-DOF (dexterous hands + wholebody locomotion)
Task
Pick up the apple, walk left and place the apple on the plate
Episodes
79 (filtered from 81; removed ep49=22 frames < chunk_size, ep80=metadata… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/psi0-apple-to-plate-teleop.ann-codesearch-4m
Cleaning
Unlike the original dataset, the func_code_string column was updated to remove any comments and keep just the code.
The original version can still be found in the whole_func_string.
import re
def remove_comments_docstrings(code, language):
if language == 'python':
# Remove docstrings
code = re.sub(r'"""(.*?)"""', '', code, flags=re.DOTALL)
code = re.sub(r"'''(.*?)'''", '', code, flags=re.DOTALL)
# Remove comments
code =… See the full description on the dataset page: https://huggingface.co/datasets/unum-cloud/ann-codesearch-4m.USearchMolecules
USearch Molecules
7'132'507'184 small molecules with 2D fingerprints, 3D conformers and shape descriptors, indexed for real-time similarity search.
Start with example: 2 million molecules drawn from all three sources, 4 GB, carrying everything the larger subsets do.
Config
Molecules
Source
example
2'000'000
drawn from the three below, not additive
pubchem
115'627'267
NCBI PubChem
gdb13
977'468'267
University of Bern GDB13
real
6'039'411'650
Enamine REAL… See the full description on the dataset page: https://huggingface.co/datasets/unum-cloud/USearchMolecules.GDP.pdf
GDP.pdf
GDP.pdf measures professional multimodal reasoning over the documents the economy actually runs on: dense reports, contracts, filings, and records in the messy real-world formats professionals work from. It was cited in Anthropic's Fable 5 and Mythos 5 model card.
What it tests
The benchmark contains 100 real-world prompts and PDFs pulled directly from professional workflows across ten domains: Finance, Healthcare, Legal, STEM/Research, Engineering… See the full description on the dataset page: https://huggingface.co/datasets/cloudybean/GDP.pdf.