datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
robotwin2.0-fastwam
RobotWin 2.0 (Preprocessed LeRobot v2.1 Release)
This repository releases our preprocessed RoboTwin / RobotWin 2.0 dataset in LeRobot v2.1 format for the open-source release of Fast-WAM: Do World Action Models Need Test-time Future Imagination?
This is not the official upstream RoboTwin release. It is our paper-specific processed version prepared to support training, evaluation, and reproducibility for our project.
This Hugging Face repository distributes the dataset as split… See the full description on the dataset page: https://huggingface.co/datasets/yuanty/robotwin2.0-fastwam.RoboTwin-Randomized-targzfastwam-robotwin2-tarballs
RobotWin 2.0 (Preprocessed LeRobot v2.1 Release)
This repository releases our preprocessed RoboTwin / RobotWin 2.0 dataset in LeRobot v2.1 format for the open-source release of Fast-WAM: Do World Action Models Need Test-time Future Imagination?
This is not the official upstream RoboTwin release. It is our paper-specific processed version prepared to support training, evaluation, and reproducibility for our project.
This Hugging Face repository distributes the dataset as split… See the full description on the dataset page: https://huggingface.co/datasets/huiliu123/fastwam-robotwin2-tarballs.robotsim-soma-source-shards-validated-v01BimanualUR5eExample
Dataset Summary
This dataset provides shards in the WebDataset format for fine-tuning RDT-2 or other policy models on bimanual manipulation.
Each sample packs:
a binocular RGB image (left + right wrist cameras concatenated horizontally)
a relative action chunk (continuous control, 0.8s, 30Hz)
a discrete action token sequence (e.g., from an Residual VQ action tokenizer)
a metadata JSON with an instruction key sub_task_instruction_key to index corresponding instruction from… See the full description on the dataset page: https://huggingface.co/datasets/robotics-diffusion-transformer/BimanualUR5eExample.PhysicalAI-Robotics-mindmap-GR1-Drill-in-Box
Dataset Description:
This dataset is a multimodal collection of trajectories generated in Isaac Lab on the Drill in Box task defined in mindmap.
The task was created to evaluate robot manipulation policies on their spatial memory capabilities.
With this (partial) dataset you can generate the full dataset used for mindmap model training,
run a mindmap training or evaluate mindmap open/closed loop.
This dataset is for research and development only.
Dataset Owner(s):… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-mindmap-GR1-Drill-in-Box.PhysicalAI-Robotics-mindmap-Franka-Cube-Stacking
Dataset Description:
This dataset is a multimodal collection of trajectories generated in Isaac Lab on the Cube Stacking task defined in mindmap.
The task was created to evaluate robot manipulation policies on their spatial memory capabilities.
With this (partial) dataset you can generate the full dataset used for mindmap model training,
run a mindmap training or evaluate mindmap open/closed loop.
This dataset is for research and development only.
Dataset Owner(s):… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-mindmap-Franka-Cube-Stacking.robotwin-act
MetaAct / Robotwin ACT
This repository hosts the public release artifacts for the MetaAct Robotwin ACT project.
Files
File
Size
SHA256
Data/robotwin-act-data.tar.gz.part001 - Data/robotwin-act-data.tar.gz.part007
128,050,721,979 bytes total
6B10200A8800B70700084F9437175151886D349B1270A4A659172F0C548A6284 after merge
Docker image archives for the same release will be added to this repository later.
Download
Install the Hugging Face… See the full description on the dataset page: https://huggingface.co/datasets/MetaAct/robotwin-act.PhysicalAI-Robotics-mindmap-Franka-Mug-in-Drawer
Dataset Description:
This dataset is a multimodal collection of trajectories generated in Isaac Lab on the Mug in Drawer task defined in mindmap.
The task was created to evaluate robot manipulation policies on their spatial memory capabilities.
With this (partial) dataset you can generate the full dataset used for mindmap model training,
run a mindmap training or evaluate mindmap open/closed loop.
This dataset is for research and development only.
Dataset Owner(s):… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-mindmap-Franka-Mug-in-Drawer.robotwinrobotwin50-vae-latentsms-benchmarkmicro-tartanair
Mini-TartanAir: a 48x48 dataset for tiny Monocular Depth Estimation
Dataset
This dataset scales down to 48x48 resolution 18 environments from the original TartanAir. In particular, we provide:
tartanair_48x48: training split in 48x48 resolution (taken from the "easy" sequences)
tartanair_hard_48x48: validation split in 48x48 resolution (taken from the "hard" sequences)
All images are annotated with 48x48 depth and disparity maps obtained directly from the synthetic… See the full description on the dataset page: https://huggingface.co/datasets/idsia-robotics/micro-tartanair.robotic-manipulation-dataset
Robotic Manipulation Dataset
This dataset contains multimodal data collected from real-world robotic manipulation tasks using a D435 depth camera and additional sensors. It is intended to support research in robot learning, perception, manipulation planning, and imitation learning.
Usage Examlpes
For usage examples, evaluation metrics, and fine-tuning code on this dataset, please refer to:
Robotic Action Frame Prediction
📁 Dataset Structure
The dataset is… See the full description on the dataset page: https://huggingface.co/datasets/yutengz/robotic-manipulation-dataset.robotwin_stack_blocks_two_clean50_2step_20260425
RobotWin Stack Blocks Two Clean50 2-Step Cache
This dataset repo contains a compressed latent-cache artifact for Video2VLA:
Archive: robotwin_stack_blocks_two_clean50_2step_20260425.tar.gz
Extracted directory: data/cache/robotwin_stack_blocks_two_clean50_2step_20260425
File count: 3757 .pt files
Sample latent shape: (1, 32, 4, 15, 20)
Dtype: torch.bfloat16
Representation: latent
This cache corresponds to the RobotWin stack_blocks_two clean50 setup using the 2-step denoising… See the full description on the dataset page: https://huggingface.co/datasets/RoMALab/robotwin_stack_blocks_two_clean50_2step_20260425.robotsim-soma-source-shards-valid-g1-h2-a3-100-v01robotwin_lerobot_selectassets_mock_robot_webdataset_1k_2