datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
aloha_static_battery_ep005_009This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "unknown",
"total_episodes": 5,
"total_frames": 3000,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:5"
},
"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/macrodata/aloha_static_battery_ep005_009.aloha_static_battery_ep000_004This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "unknown",
"total_episodes": 5,
"total_frames": 3000,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
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"fps": 50,
"splits": {
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},
"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/macrodata/aloha_static_battery_ep000_004.aloha_static_thread_velcroThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "unknown",
"total_episodes": 49,
"total_frames": 34300,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:49"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/aloha_static_thread_velcro.aloha-static-cosmos-25hz
Static ALOHA + ALOHA-Cosmos-Policy at 25 Hz
LeRobot v2.1 data for GR00T N1.6 mid-training before four-camera ALOHA fine-tuning.
Source family
Episodes
Frames at 25 Hz
15 public Static ALOHA releases
840
257,875
NVIDIA ALOHA-Cosmos-Policy
185
132,500
Total
1,025
390,375
The table lists the complete preserved source population: 20 original task
instructions and 4.3375 hours. These are the
pinned public releases listed below; this is not a claim that they… See the full description on the dataset page: https://huggingface.co/datasets/happyhappy-jun/aloha-static-cosmos-25hz.aloha_static_coffeeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 55000,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/lerobot/aloha_static_coffee.aloha_static_cups_openThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 20000,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/lerobot/aloha_static_cups_open.aloha_static_batteryThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "unknown",
"total_episodes": 49,
"total_frames": 29400,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:49"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/aloha_static_battery.aloha_static_candyThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 35000,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/lerobot/aloha_static_candy.aloha_static_towelThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 25000,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/aloha_static_towel.aloha_static_vinh_cupThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 101,
"total_frames": 45500,
"total_tasks": 1,
"total_videos": 404,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/lerobot/aloha_static_vinh_cup.aloha_static_screw_driverThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 20000,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/lerobot/aloha_static_screw_driver.static-analysis-evalA dataset of 76 Python programs taken from real Python open source projects (top 100 on GitHub),
where each program is a file that has exactly 1 vulnerability as detected by a particular static analyzer (Semgrep), used in the paper Patched MOA: optimizing inference for diverse software development tasks.
OpenAI used the synth-vuln-fixes and fine-tuned
a new version of gpt-4o is now the SOTA on this benchmark. More details and code is available from their repo.
More details on the benchmark… See the full description on the dataset page: https://huggingface.co/datasets/patched-codes/static-analysis-eval.aloha_static_tapeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "unknown",
"total_episodes": 50,
"total_frames": 35000,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/aloha_static_tape.rm-static
Dataset Card for "rm-static"
Split of hh-static used for training reward models after supervised fine-tuning.
aloha_static_pro_pencilThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 25,
"total_frames": 8750,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:25"
},
"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/aloha_static_pro_pencil.aloha_static_vinh_cup_leftThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 100,
"total_frames": 50000,
"total_tasks": 1,
"total_videos": 400,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/lerobot/aloha_static_vinh_cup_left.aloha_static_ziploc_slideThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 56,
"total_frames": 16800,
"total_tasks": 1,
"total_videos": 224,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:56"
},
"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/aloha_static_ziploc_slide.aloha_static_coffee_newThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 75000,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/lerobot/aloha_static_coffee_new.aloha_static_fork_pick_upThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "unknown",
"total_episodes": 100,
"total_frames": 60000,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/aloha_static_fork_pick_up.aloha_static_pingpong_testThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 10,
"total_frames": 6000,
"total_tasks": 1,
"total_videos": 40,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/lerobot/aloha_static_pingpong_test.Arena-G1-Static-PickNPlace-Task
Dataset Description:
The Arena-G1-Static-PickNPlace-Task dataset is a multimodal collection of trajectories generated in Isaac Lab. It supports humanoid (G1) loco-manipulation task in IsaacLab-Arena environment. Each entry provides the full context (state, vision, language, action) needed to train and evaluate generalist robot policies for an apple pick-and-place task.
Dataset Name
# Trajectories
G1 Static PickNPlace Task
200
This dataset is ideal for behavior… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/Arena-G1-Static-PickNPlace-Task.aera_semi_pnp_dr_02_05_2026_skip3_delta_no_go_home_no_static_smoothed__0005This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "AR4_MK3",
"total_episodes": 5349,
"total_frames": 362999,
"total_tasks": 72,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 25,
"splits": {
"train": "0:5349"
},
"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/Purple69/aera_semi_pnp_dr_02_05_2026_skip3_delta_no_go_home_no_static_smoothed__0005.static-hhStatic split of Anthropic's Helpful Harmless dataset. Contains base-online and rejection sampled outputs.
dual_needle_concat_action_staticThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "unity",
"total_episodes": 250,
"total_frames": 97953,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:250"},
"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/inaas/dual_needle_concat_action_static.dual_needle_psm2_staticThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "unity",
"total_episodes": 250,
"total_frames": 97953,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:250"},
"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/inaas/dual_needle_psm2_static.aera_semi_pnp_dr_16_06_2026_skip3_delta_no_go_home_no_static_smoothed_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "AR4_MK3",
"total_episodes": 2855,
"total_frames": 428406,
"total_tasks": 156,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 23,
"splits": {
"train": "0:2855"
},
"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/Purple69/aera_semi_pnp_dr_16_06_2026_skip3_delta_no_go_home_no_static_smoothed_v2.dual_needle_psm1_two_wrists_staticThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "unity",
"total_episodes": 250,
"total_frames": 97953,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:250"},
"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/inaas/dual_needle_psm1_two_wrists_static.PickPlace_staticMarkerThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 76,
"total_frames": 26911,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:76"
},
"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/BlankHead/PickPlace_staticMarker.dual_needle_psm2_wrist_staticThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "unity",
"total_episodes": 250,
"total_frames": 97953,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:250"},
"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/inaas/dual_needle_psm2_wrist_static.aera_semi_pnp_dr_16_06_2026_skip3_delta_no_go_home_no_static_smoothedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "AR4_MK3",
"total_episodes": 2855,
"total_frames": 399698,
"total_tasks": 156,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 23,
"splits": {
"train": "0:2855"
},
"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/Purple69/aera_semi_pnp_dr_16_06_2026_skip3_delta_no_go_home_no_static_smoothed.