datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
team15-groot-two-task-generalization
mvp
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.
centrifuge-generalization-v1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"ee_x.pos",
"ee_y.pos",
"ee_z.pos",
"ee_wx.pos",
"ee_wy.pos",
"ee_wz.pos",
"gripper.pos"
],
"shape": [
7… See the full description on the dataset page: https://huggingface.co/datasets/ar0s/centrifuge-generalization-v1.dataset
Harness Generalization Rollouts
Evolution-run rollouts for Qwen3-4B-Instruct-2507, Qwen2.5-3B-Instruct, gpt-oss-120b, and gpt-oss-20b. One Parquet file per run is stored at data/<task>/<model>/<configuration>/<timestamp>.parquet.
centrifuge-generalization-referenceThis dataset was created using LeRobot.
What this dataset is
Rendered expert episodes of the KUKA centrifuge task on a widened reset
distribution, recorded to show what the distribution does to the expert --
including the episodes the expert cannot finish. A failed attempt is recorded as
the episode (TaskExpert stops commanding where the attempt died), so a failure
here is data, not a gap.
reset profile: A -- machine translation ±30 mm, machine yaw ±15°,
each vial ±30 mm… See the full description on the dataset page: https://huggingface.co/datasets/ar0s/centrifuge-generalization-reference.centrifuge-generalization-broken-AThis dataset was created using LeRobot.
What this dataset is
Rendered expert episodes of the KUKA centrifuge task on a widened reset
distribution, recorded to show what the distribution does to the expert --
including the episodes the expert cannot finish. A failed attempt is recorded as
the episode (TaskExpert stops commanding where the attempt died), so a failure
here is data, not a gap.
reset profile: A -- machine translation ±30 mm, machine yaw ±15°,
each vial ±30 mm… See the full description on the dataset page: https://huggingface.co/datasets/ar0s/centrifuge-generalization-broken-A.dagger_generalization_18This 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/jjr1007/dagger_generalization_18.centrifuge-generalization-BThis dataset was created using LeRobot.
What this dataset is
Rendered expert episodes of the KUKA centrifuge task on a widened reset
distribution, recorded to show what the distribution does to the expert --
including the episodes the expert cannot finish. A failed attempt is recorded as
the episode (TaskExpert stops commanding where the attempt died), so a failure
here is data, not a gap.
reset profile: B -- machine translation ±60 mm, machine yaw ±30°,
each vial ±60 mm… See the full description on the dataset page: https://huggingface.co/datasets/ar0s/centrifuge-generalization-B.centrifuge-generalization-CThis dataset was created using LeRobot.
What this dataset is
Rendered expert episodes of the KUKA centrifuge task on a widened reset
distribution, recorded to show what the distribution does to the expert --
including the episodes the expert cannot finish. A failed attempt is recorded as
the episode (TaskExpert stops commanding where the attempt died), so a failure
here is data, not a gap.
reset profile: C -- machine translation ±100 mm, machine yaw ±45°,
each vial ±100… See the full description on the dataset page: https://huggingface.co/datasets/ar0s/centrifuge-generalization-C.centrifuge-generalization-broken-BThis dataset was created using LeRobot.
What this dataset is
Rendered expert episodes of the KUKA centrifuge task on a widened reset
distribution, recorded to show what the distribution does to the expert --
including the episodes the expert cannot finish. A failed attempt is recorded as
the episode (TaskExpert stops commanding where the attempt died), so a failure
here is data, not a gap.
reset profile: B -- machine translation ±60 mm, machine yaw ±30°,
each vial ±60 mm… See the full description on the dataset page: https://huggingface.co/datasets/ar0s/centrifuge-generalization-broken-B.synth-forgetting-generalization-9dagger_generalization_21This 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/jjr1007/dagger_generalization_21.trec6_Full-p_05banking_intent_Sampled-p_1dagger_generalization_10This 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/jjr1007/dagger_generalization_10.sst2_Full-p_05stack_lego_simple_generalization_diffusion_deploy_1dagger_generalization_23This 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/jjr1007/dagger_generalization_23.banking_intent_Full-p_05conv_intent_Sampled-p_1sst2_Sampled-p_1trec6_Full-p_1testingdagger_generalization_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/jjr1007/dagger_generalization_2.dagger_generalization_27This 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/jjr1007/dagger_generalization_27.dagger_generalization_12This 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/jjr1007/dagger_generalization_12.banking_intent_Full-p_1sst2_Full-p_1generalization_datasetdagger_generalization_13This 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/jjr1007/dagger_generalization_13.dagger_generalization_26This 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/jjr1007/dagger_generalization_26.