datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
droid_v3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "Franka",
"total_episodes": 95658,
"total_frames": 27630375,
"total_tasks": 49630,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:95658"
},
"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/DAVIAN-Robotics/droid_v3.PhysicalAI-Robotics-Manipulation-Kitchen
PhysicalAI Robotics Manipulation in the Kitchen
Dataset Description:
PhysicalAI-Robotics-Manipulation-Kitchen is a dataset of automatic generated motions of robots performing operations such as opening and closing cabinets, drawers, dishwashers and fridges. The dataset was generated in IsaacSim leveraging reasoning algorithms and optimization-based motion planning to find solutions to the tasks automatically [1, 3]. The dataset includes a bimanual manipulator built with… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Kitchen.PhysicalAI-Robotics-GR00T-Teleop-G1
Unitree G1 Fruits Pick and Place 1K Dataset
Dataset Description:
The PhysicalAI-Robotics-GR00T-Teleop-G1 dataset consists of1000 teleoperation trajectories of real robot data using Unitree G1, with upper body control. The robot chooses the correct fruit to pick and place on the plate according to the language prompt. A total of 4 fruits are used: Apple, Pear, Starfruit, Grape. The robot is equipped with the default realsense camera, and a pair of Unitree G1 Tri-fingers… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-Teleop-G1.speech-commands-v0.02
Speech Commands Dataset v0.02
This is a re-hosted copy of the Google Speech Commands v0.02 dataset in Parquet format for compatibility with the Hugging Face Dataset Viewer.
⚠️ Credits
This dataset was created by Pete Warden / Google. All credit goes to the original authors and the crowdsourcing contributors.
Original source: http://download.tensorflow.org/data/speech_commands_v0.02.tar.gz
Paper: Speech Commands: A Dataset for Limited-Vocabulary Speech Recognition… See the full description on the dataset page: https://huggingface.co/datasets/pollen-robotics/speech-commands-v0.02.PhysicalAI-Robotics-Manipulation-ObjectsPhysicalAI-Robotics-Manipulation-Objects is a dataset of automatic generated motions of robots performing operations such as picking and placing objects in a kitchen environment. The dataset was generated in IsaacSim leveraging reasoning algorithms and optimization-based motion planning to find solutions to the tasks automatically [1, 3]. The dataset includes a bimanual manipulator built with Kinova Gen3 arms. The environments are kitchen scenes where the furniture and appliances were… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Objects.tartandrive_offroad
TartanDrive Off-Road Traversability — LeRobotDataset
This dataset is a demonstration of a data pipeline. All 55 episodes /
124k frames were generated from raw, asynchronous TartanDrive 2.0 rosbags —
including a per-pixel traversability ground truth that does not exist in
the raw data: it is derived, self-supervised, from where the robot actually
drove. The conversion is **17 lines of channel→feature mapping** plus a
~100-line labeling composition of
apairo_preprocess… See the full description on the dataset page: https://huggingface.co/datasets/apairo-robotics/tartandrive_offroad.robolab-init-positionsteam2-guess_who_so100_lightThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 96,
"total_frames": 19853,
"total_tasks": 1,
"total_videos": 96,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:96"
},
"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/roboticshack/team2-guess_who_so100_light.team-7-right-arm-grasp-tapeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 100,
"total_frames": 59711,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:100"
},
"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/roboticshack/team-7-right-arm-grasp-tape.challenge2026_dataset
Challenge 2026 Dataset
This dataset provides training/evaluation data for the 2026 Global Humanoid Robot Challenge Simulation Competition.
Data Format: LeRobot v3.0
Directory Structure
Part_Sorting/ - Desktop Fine-Grained Part Sorting
├── data/
├── meta/
├── videos/
Packing_Box/ - Carton Sealing and Packing
├── data/
├── meta/
├── videos/
Foam_Inlaying/ - Precise Part Assembly
├── data/
├──… See the full description on the dataset page: https://huggingface.co/datasets/UBTECH-Robotics/challenge2026_dataset.factory-manipulation-videos
Factory manipulation videos
Procedural Robotics is open sourcing a small set of our factory data so teams can assess its quality. The videos show workers performing factory tasks.
Contents
Seven continuous takes, 109 minutes in total.
Task
Station
Worker
Duration
File
cardboard manipulation
01
041
23.6 min
cardboard_manipulation_station01_worker041.mp4
cardboard manipulation
04
026
16.5 min
cardboard_manipulation_station04_worker026.mp4
defect… See the full description on the dataset page: https://huggingface.co/datasets/procedural-robotics/factory-manipulation-videos.team13-two-balls-stackingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 51,
"total_frames": 13476,
"total_tasks": 1,
"total_videos": 102,
"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/roboticshack/team13-two-balls-stacking.apple_storageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "reachy2",
"total_episodes": 50,
"total_frames": 14983,
"total_tasks": 1,
"total_videos": 50,
"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/pollen-robotics/apple_storage.robocasa-MG_3000This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "robomimic",
"total_episodes": 70513,
"total_frames": 19636669,
"total_tasks": 340,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:70513"
},
"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/DAVIAN-Robotics/robocasa-MG_3000.apple_storage_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "reachy2",
"total_episodes": 54,
"total_frames": 12906,
"total_tasks": 1,
"total_videos": 54,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:54"
},
"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/pollen-robotics/apple_storage_2.CausalVerse_Video_Robotics_Kitchen
CausalVerse Video Dataset
Available splits: robotics_kitchen
Each record contains the following columns:
videos, metavalue, npz_data
robotics_kitchen
Examples: 7500
Columns: videos, metavalue, npz_data
team13-three-balls-stackingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 101,
"total_frames": 48652,
"total_tasks": 1,
"total_videos": 202,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:101"
},
"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/roboticshack/team13-three-balls-stacking.team16-water-pouringThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 50,
"total_frames": 29887,
"total_tasks": 1,
"total_videos": 100,
"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/roboticshack/team16-water-pouring.rollout_dagger_r1_s2_b0_20260915_121327This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"action": {
"dtype": "float32",
"names": [
"act_0.pos",
"act_1.pos",
"act_2.pos",
"act_3.pos",
"act_4.pos",
"act_5.pos",
"act_6.pos",
"act_7.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/recast-robotics/rollout_dagger_r1_s2_b0_20260915_121327.team16-cleaning-plateThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 100,
"total_frames": 74893,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:100"
},
"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/roboticshack/team16-cleaning-plate.pick_and_place_bottleThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "reachy2",
"total_episodes": 86,
"total_frames": 12089,
"total_tasks": 1,
"total_videos": 172,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:86"
},
"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/pollen-robotics/pick_and_place_bottle.robot-meet-gemma-record-medicineThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 13,
"total_frames": 6119,
"total_tasks": 1,
"total_videos": 26,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 25,
"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/AS-Robotics/robot-meet-gemma-record-medicine.team2-guess_who_so100This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 96,
"total_frames": 23114,
"total_tasks": 1,
"total_videos": 96,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:96"
},
"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/roboticshack/team2-guess_who_so100.qualia-dataset-real
Qualia Real-Robot Datasets
Release
release-2026-07-19.3 (changelog)
Domain
Real-robot recordings
Format
LeRobot v2.1
Access
Public
Contact
Start a discussion
Public access makes the recordings inspectable and reproducible; usage rights still follow each
source dataset. See License and provenance.
Dataset description
This repository collects Qualia's real-robot datasets in one place. Each dataset contains one
instruction and records the… See the full description on the dataset page: https://huggingface.co/datasets/qualia-robotics/qualia-dataset-real.team16-can-stackingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 40,
"total_frames": 23959,
"total_tasks": 1,
"total_videos": 80,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:40"
},
"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/roboticshack/team16-can-stacking.CausalVerse_Video_Robotics_Living
CausalVerse Video Dataset
Available splits: robotics_living
Each record contains the following columns:
videos, metavalue, npz_data
robotics_living
Examples: 4800
Columns: videos, metavalue, npz_data
bimanual_blue_block_handover_24This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "bi_so101_follower",
"total_episodes": 30,
"total_frames": 22486,
"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/Mimic-Robotics/bimanual_blue_block_handover_24.CausalVerse_Video_Robotics_Mobile
CausalVerse Video Dataset
Available splits: robotics_mobile
Each record contains the following columns:
videos, metavalue, npz_data
robotics_mobile
Examples: 2001
Columns: videos, metavalue, npz_data
team_20_augmented_datasocksPick-and-Place-dataset_so100_pickplaceThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100_follower",
"total_episodes": 10,
"total_frames": 3764,
"total_tasks": 1,
"total_videos": 20,
"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/AS-Robotics/Pick-and-Place-dataset_so100_pickplace.