datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
PhysicalAI-Robotics-Locomanipulation-GRAIL
📢 News
[2026-07-15] Released task-general tracking policy checkpoints trained on the released data. Follow the tracking doc to use them to track our released motion data.
[2026-07-14] Updated data/pickup_table and data/pickup_ground. If you downloaded them before this date, please re-download.
Dataset Overview
Tabletop Pickup
Ground Pickup
Tabletop Manipulation
Ground Manipulation
Sitting
Curb
Slope… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Locomanipulation-GRAIL.community-suspicious-samples
This dataset is part of the ULE-CIBERLAB Project: Transfer of knowledge in cybersecurity for the country's business fabric, funded by the European Union NextGeneration-EU, Recovery, Transformation and Resilience Plan, through INCIBE.
MALWARE-SAMPLES DATASET
Disclaimer: This repository may contain real samples of malware that can be executed (.exe) and artifacts related with their execution in CAPEv2 sandbox (JSON/HTML reports, screenshots, dropped files). DO NOT execute any of… See the full description on the dataset page: https://huggingface.co/datasets/unileon-robotics/community-suspicious-samples.PhysicalAI-Robotics-NuRec
Dataset Description
The Physical AI NuRec dataset seeks to empower robotic researchers to build the next generation of physical AI based end-to-end robotic models.
This dataset includes various 3DGUT in USD files that can be loaded in Isaac Sim. Some datasets also include a mesh and occupancy map. The Mesh components are used for collision detection while the 3DGUT components provide realistic rendering. The asset can also be used with Isaac Sim Extensions like MobilityGen for… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-NuRec.reachy-mini-wall-data
Reachy Mini — wall data (public)
posts.json for the Reachy Mini community wall: the AI-filtered posts shown publicly,
aggregated from Bluesky, YouTube, LinkedIn, TikTok, X and Reddit by the social-wall pipeline.
Fetch it directly (CORS-enabled) from any static site:
const url = "https://huggingface.co/datasets/pollen-robotics/reachy-mini-wall-data/resolve/main/posts.json";
const posts = await (await fetch(url)).json();
Each item: id, platform, author, handle, avatar, text… See the full description on the dataset page: https://huggingface.co/datasets/pollen-robotics/reachy-mini-wall-data.bioburden_labelled_dataLiberoTaskGrasp-Pro
TaskGrasp-Pro dataset
The TaskGrasp-Pro dataset extends the original TaskGrasp dataset by providing fine-grained part decompositions and part-level physical property annotations for 190 household objects. For each object instance, we design three types of tasks: category-related tasks, part-related tasks, and part-irrelevant tasks, resulting in a total of 2,850 tasks.
Files
scans/ contains the point clouds of objects, multi-view RGB-D images, different types of task… See the full description on the dataset page: https://huggingface.co/datasets/WCL-Robotics/TaskGrasp-Pro.robotic-scene-segmentation-miccai-2018PhysicalAI-Robotics-GR00T-Eval
EVAL-175
Dataset Description:
123 initial frame pictures from the robot's perspective before performing various tasks in the lab.
This dataset is ready for commercial/non-commercial use.
Dataset Owner(s):
NVIDIA Corporation (GEAR Lab)
Dataset Creation Date:
May 1, 2025
License/Terms of Use:
This dataset is governed by the Creative Commons Attribution 4.0 International License (CC-BY-4.0).
This dataset was created using a… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-Eval.certificatestartandrive_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.breakfast_robocup_homeagentworld_assetsTactile_Manipulation_Dataset
Dataset for Tactile Manipulation Tasks
Acknowledgements
The USD and calibration assets of Franka Panda with tactile sensor GelsightMini are from TacEx.
SynthRender_Robotics
SynthRender_Robotics: Synthetic Training Sets for the Robotics Sim-to-Real Benchmark
This repository hosts the synthetic training sets generated with SynthRender and used to benchmark sim-to-real transfer on the public Robotics dataset (Horváth et al., 2022), as reported in "SynthRender and IRIS: Open-Source Framework and Dataset for Bidirectional Sim-Real Transfer in Industrial Object Perception" (arXiv:2602.21141).
Sample Images (720x720)… See the full description on the dataset page: https://huggingface.co/datasets/moiaraya/SynthRender_Robotics.DRRManyskin_slip_detection
Slip Detection Dataset
A Reachy 2's gripper has been equipped with an Anyskin tactile sensor, composed of 5 magnetic sensors. This dataset aims to reproduce the slip detection task described in the paper.
Capture protocol
A list of 16 objects with various hardness levels has been selected (see pictures folder).
The gripper closure was manually triggered. Then the operator pulled the object without removing it from the gripper. Four forces were applied in different… See the full description on the dataset page: https://huggingface.co/datasets/pollen-robotics/anyskin_slip_detection.Veridis
VERIDIS Dataset
Overview
This repository contains the VERIDIS dataset, a collection of annotated agricultural images for crop detection and identification. The dataset comprises field images of beet and corn crops captured by a ground-level robotic platform, organized in YOLO format for object detection tasks.
The dataset primarily captures crops at early growth stages, which is particularly relevant for applications such as plant detection, early monitoring, and… See the full description on the dataset page: https://huggingface.co/datasets/unileon-robotics/Veridis.Uranus-Demo-Data
Download
Download and unpack the samples from either Hugging Face or ModelScope into examples/data/.
Hugging Face
pip install -U huggingface_hub
hf download D-Robotics/Uranus-Demo-Data \
--repo-type dataset \
--local-dir ./examples/data
ModelScope
pip install -U modelscope
modelscope download \
--dataset D-Robotics/Uranus-Demo-Data \
--local_dir ./examples/data
Each episode lands in ./examples/data/<episode_id>/ and can be passed… See the full description on the dataset page: https://huggingface.co/datasets/D-Robotics/Uranus-Demo-Data.scaling-roboticsopenarm-cube-distractor-lang-v3-relThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "openarm_bimanual_sim",
"total_episodes": 500,
"total_frames": 222451,
"total_tasks": 5,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:500"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/qualia-robotics/openarm-cube-distractor-lang-v3-rel.reachy-doing-things
Reachy Doing Things Dataset
Overview
The Reachy Doing Things Images Dataset consists of images captured from the perspective of the Reachy humanoid robot. These images were taken during teleoperation sessions, providing a unique view of the environment as perceived by the robot during manipulation tasks. The images were captured with a RGBD camera mounted on the shoulder of the robot.
Purpose
This dataset is primarily aimed at testing and validating the… See the full description on the dataset page: https://huggingface.co/datasets/pollen-robotics/reachy-doing-things.BimanualUR5eExample
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.camera-calib-and-scene-alignment-dataPhysicalAI-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.semsim_1k
semsim_1k
A 1,427-image robotics corpus for specification-grounded runtime safety
monitoring, curated from five public sources and unified under one schema.
This is the annotation and human-review corpus.
Each image is a frame a mobile robot could plausibly have captured, kept with
enough context that a human can judge whether a described hazard is really
visible in it.
Loading — sources are splits, not configs
from datasets import load_dataset
gt =… See the full description on the dataset page: https://huggingface.co/datasets/cairo-robotics/semsim_1k.CARLA_e2e_autonomous_drivingYOLOv8-Object-Detection-02-Dataset
Soup Can Object Detection Dataset Sample
Duality.ai just released a 1000 image dataset used to train a YOLOv8 model for object detection -- and it's 100% free!
Just create an EDU account here.
This HuggingFace dataset is a 20 image and label sample, but you can get the rest at no cost by creating a FalconCloud account. Once you verify your email, the link will redirect you to the dataset page.
Dataset Overview
This dataset consists of high-quality images of soup cans… See the full description on the dataset page: https://huggingface.co/datasets/duality-robotics/YOLOv8-Object-Detection-02-Dataset.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.