datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
the-join
The Join
A broad collection of relational databases spanning many domains (academic,
e-commerce, finance, sports, biomedical, government, text2sql, and more), ported to the
RelBench manifest format. The Join is built for pretraining relational/tabular foundation
models: each database is self-describing and tasks ship labels as-is for large-scale
pretraining rather than held-out benchmarking.
Each dataset lives in its own subdirectory in the self-describing manifest layout (plain… See the full description on the dataset page: https://huggingface.co/datasets/stanford-star/the-join.icl-dataset-joint-space
icl-dataset-fixed-action
Derived from adityx23/icl-dataset
(lerobot v2.1 format). Every existing column, task, episode flag
(success/valid/keep), and episode_uid is carried through unchanged.
What's added
One new feature, action.q_target (float32, shape [14], names
lj0..lj6, rj0..rj6): the joint-space reconstruction of each frame's
action.left_ee / action.right_ee cartesian targets, via the mink-based
IK procedure documented in vr_teleop_ik.md (available in the… See the full description on the dataset page: https://huggingface.co/datasets/Hannibal52Barca/icl-dataset-joint-space.calvin_d_joint
HiMoE-VLA: CALVIN Dataset (LeRobot format)
This dataset contains robotic demonstration data converted from CALVIN to the LeRobot format, used for training the HiMoE-VLA policy.
Paper: HiMoE-VLA: Hierarchical Mixture-of-Experts for Generalist Vision-Language-Action Policies
Repository: GitHub - ZhiyingDu/HiMoE-VLA
The data is converted from CALVIN using this conversion script.
tblock-all-piper-clean-piper-jointsThis dataset was created using LeRobot.
Dataset Description
Joint-level bimanual piper dataset derived from local/tblock-all-piper-clean. Each side stores YAML-declared arm joints in radians and, when present, one physical gripper opening in meters. observation.state[t] contains the command at t and action[t] contains the command at t+1.
Homepage: https://github.com/murobotics-ai/handumi-sw
Paper: [More Information Needed]
License: other
Six episodes the… See the full description on the dataset page: https://huggingface.co/datasets/murobotics/tblock-all-piper-clean-piper-joints.piper-apple-picking-1m-joints
Piper Apple Picking (Isaac Sim) — 1M frames — joint-space state
LeRobot v3 dataset: an AgileX Piper 6-DOF arm harvesting apples into a bucket,
collected in Isaac Lab / Isaac Sim with a cuRobo motion planner.
This is the joint-space variant of
Faless/piper-apple-picking-1m:
identical episodes/videos, but observation.state is reduced to 8 dims (no
end-effector pose) for policies that act purely in joint space.
Episodes: 1,056
Frames: 1,024,754
FPS: 30
Robot: piper_full
Cameras:… See the full description on the dataset page: https://huggingface.co/datasets/Faless/piper-apple-picking-1m-joints.joint-handover3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "kinova-arx",
"total_episodes": 45,
"total_frames": 44370,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"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/rdoshi21/joint-handover3.tblock-all-piper-clean-piper-jointsThis dataset was created using LeRobot.
Dataset Description
Joint-level bimanual piper dataset derived from local/tblock-all-piper-clean. Each side stores YAML-declared arm joints in radians and, when present, one physical gripper opening in meters. observation.state[t] contains the command at t and action[t] contains the command at t+1.
Homepage: https://github.com/murobotics-ai/handumi-sw
Paper: [More Information Needed]
License: other
Six episodes the… See the full description on the dataset page: https://huggingface.co/datasets/NONHUMAN-RESEARCH/tblock-all-piper-clean-piper-joints.transport-jointcola_firm_joint_rawhil_pi05_joints_100kThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 50,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
10
],
"names": [
"j1.pos",
"j2.pos",
"j3.pos",
"j4.pos",
"j5.pos",
"j6.pos",
"gripper.pos"… See the full description on the dataset page: https://huggingface.co/datasets/maskjp/hil_pi05_joints_100k.no_cam_test_replay_joint_episode_20260806_191025This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"… See the full description on the dataset page: https://huggingface.co/datasets/makermods/no_cam_test_replay_joint_episode_20260806_191025.echelon-joint-angles-fuzzedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "ur3e",
"total_episodes": 2608,
"total_frames": 77042,
"total_tasks": 13,
"total_videos": 0,
"total_chunks": 3,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:2608"
},
"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/mattmazzola/echelon-joint-angles-fuzzed.laion2B-multi-joined-translated-to-en-smolww_dataset_abs_joint_delta_jointThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5",
"total_episodes": 200,
"total_frames": 29373,
"total_tasks": 2,
"total_videos": 400,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:200"
},
"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/pmoller/ww_dataset_abs_joint_delta_joint.rlbench_joint_vel_action_lerobot_trainThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "panda",
"total_episodes": 1800,
"total_frames": 375567,
"total_tasks": 202,
"total_videos": 0,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1800"
},
"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/daixianjie/rlbench_joint_vel_action_lerobot_train.ROS2SmolVLA_ur10e_no_joints_crop_pick_placeThis is the training dataset for our ROS2SmolVLA project
It was recorded by teleoperation of our UR10e lightweight industrial robot through our ROS2SmolVLA setup utilizing LeRobot.
The action space is:
"linear_x.vel",
"linear_y.vel",
"linear_z.vel",
"angular_x.vel",
"angular_y.vel",
"angular_z.vel",
"gripper.pos"
The observation space is:
"pose.x",
"pose.y",
"pose.z",
"pose.quat_x",
"pose.quat_y",
"pose.quat_z",
"pose.quat_w"
one 720x720 and two 1280x720 camera streams.… See the full description on the dataset page: https://huggingface.co/datasets/una-auxme/ROS2SmolVLA_ur10e_no_joints_crop_pick_place.peg_rand_05_01_rcm_virtual_joints_and_3j_tool_cam0_1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 85,
"total_frames": 45695,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:85"
},
"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/radoolonto/peg_rand_05_01_rcm_virtual_joints_and_3j_tool_cam0_1.dual-lidar-combined-filtered-joint-positions
Combined filtered dual-LiDAR UMI demonstrations
Observation-only LeRobot v3 derivative of brandonyang/dual-lidar-umi, brandonyang/dual-lidar-umi-relative. It contains 157 demonstrations (156492 frames) accepted by the continuous bimanual YAM replayability pipeline.
The 14-D observation.state contains left YAM joints 0–5, normalized left gripper, right YAM joints 0–5, and normalized right gripper. The two original UMI videos, timestamps, frame cadence, and task are preserved;… See the full description on the dataset page: https://huggingface.co/datasets/brandonyang/dual-lidar-combined-filtered-joint-positions.ww_dataset_abs_joint_abs_jointThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5",
"total_episodes": 200,
"total_frames": 29373,
"total_tasks": 2,
"total_videos": 400,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:200"
},
"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/pmoller/ww_dataset_abs_joint_abs_joint.peg_rand_05_01_rcm_virtual_joints_and_3j_tool_cam0This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 85,
"total_frames": 45695,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:85"
},
"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/radoolonto/peg_rand_05_01_rcm_virtual_joints_and_3j_tool_cam0.2A2B2C-Dataset-Joints-DeltaRootjoint-handoverThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "kinova-arx",
"total_episodes": 22,
"total_frames": 13512,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:22"
},
"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/rdoshi21/joint-handover.ur5e-pick-red-cube-jointsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 103,
"total_frames": 13567,
"total_tasks": 2,
"total_videos": 206,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:103"
},
"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/tlpss/ur5e-pick-red-cube-joints.dual-lidar-combined-filtered-joint-positions-long-gripper
Combined filtered dual-LiDAR UMI demonstrations
Observation-only LeRobot v3 derivative of brandonyang/dual-lidar-umi, brandonyang/dual-lidar-umi-relative. It contains 182 demonstrations (179951 frames) accepted by the continuous bimanual YAM replayability pipeline.
The 14-D observation.state contains left YAM joints 0–5, normalized left gripper, right YAM joints 0–5, and normalized right gripper. The two original UMI videos, timestamps, frame cadence, and task are preserved;… See the full description on the dataset page: https://huggingface.co/datasets/brandonyang/dual-lidar-combined-filtered-joint-positions-long-gripper.peg_rand_05_01_rcm_virtual_joints_and_3j_tool_cam1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 85,
"total_frames": 45695,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:85"
},
"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/radoolonto/peg_rand_05_01_rcm_virtual_joints_and_3j_tool_cam1.cola_firm_joint_raw_5hzpeg_transfer_joint_position_12This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 80,
"total_frames": 9190,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:80"
},
"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/cagedBirdy/peg_transfer_joint_position_12.piper_joint_ep_20250421_releaseThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "piper",
"total_episodes": 50,
"total_frames": 19911,
"total_tasks": 1,
"total_videos": 150,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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/hangwu/piper_joint_ep_20250421_release.ours_joint_action2A2B2C-Dataset-Joints-0A-DeltaRoot