datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
aloha_sim_transfer_cube_scripted_imageThis 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": 0,
"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": null,
"features": {… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/aloha_sim_transfer_cube_scripted_image.aloha_sim_transfer_cube_human_imageThis 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": 0,
"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": null,
"features": {… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/aloha_sim_transfer_cube_human_image.cub200_dataset
Dataset Card for CUB_200_2011
Dataset Summary
The Caltech-UCSD Birds 200-2011 dataset (CUB-200-2011) is an extended version of the original CUB-200 dataset, featuring photos of 200 bird species primarily from North America. This 2011 version significantly expands its predecessor by doubling the number of images per class and introducing new part location annotations, alongside collecting detailed natural language descriptions for each image through Amazon Mechanical Turk… See the full description on the dataset page: https://huggingface.co/datasets/cassiekang/cub200_dataset.lewm-cube
LeWM Cube
An archive-free Lance conversion of quentinll/lewm-cube, released with LeWorldModel.
Open in the LeWM Dataset Visualizer.
Episodes
10,000
Timesteps
2,010,000
Episode length
201
Frames
224 × 224 RGB
Action dimensions
5
Files
train.lance: indexed training table (19.07 GiB)
train_episodes.lance: episode metadata
viewer/*.parquet: row-identical Hub-viewer mirror (12.54 GiB)
The viewer mirror repeats episode metadata on each… See the full description on the dataset page: https://huggingface.co/datasets/fracapuano/lewm-cube.CUB-200-2011
Dataset Card for "CUB-200-2011 (CUBS)"
This is a non-official CUB-200-2011 dataset for fine-grained Image Classification.
If you want to download the official dataset, please refer to the here.
assessment2_spheres_and_cube_2k
Dataset Card for cilp_assessment_all
This is a FiftyOne dataset with 2000 samples.
Installation
If you haven't already, install FiftyOne:
pip install -U fiftyone
Usage
import fiftyone as fo
from fiftyone.utils.huggingface import load_from_hub
# Load the dataset
# Note: other available arguments include 'max_samples', etc
dataset = load_from_hub("maxspeer/assessment2_spheres_and_cube_2k_2")
# Launch the App
session = fo.launch_app(dataset)… See the full description on the dataset page: https://huggingface.co/datasets/maxspeer/assessment2_spheres_and_cube_2k.aloha_sim_transfer_cube_scripted_rawaloha_sim_transfer_cube_scripted_image_rawCUB
CUB (Image Retrieval)
This repository contains the raw images for the CUB dataset, formatted for use with Dino v3 retrieval applications.
Usage in Frontend
You can access these images directly via the Hugging Face resolve endpoint:
https://huggingface.co/datasets/<USERNAME>/CUB/resolve/main/<PATH_TO_FILE>
CUB_train
Dataset Card for "CUB_train"
More Information needed
cubicasa5k-yolo
CubiCase5K in YOLO format (walls / doors / windows)
Converted from CubiCase5K (CC BY-NC 4.0):
SVG Wall/Railing, Door, Window polygons rasterized on F1_scaled.png
and traced back to YOLO polygon labels. Swing arcs are ignored.
Class 0 wall
Class 1 door (opening polygon only)
Class 2 window
Splits: 90/5/5 train/val/test (random, seed 0). Labels are polygon format,
usable for both detection and instance segmentation in ultralytics.
X4_SWIR_Industrial_Foreign_Object_Detection_Bedding
Hyperspectral Foreign-Object Detection in Bedding — Full Dataset (VIS + SWIR)
A 6-band VIS+SWIR hyperspectral dataset for industrial foreign-object
detection on a bedding substrate (a tray of wood-shaving / sawdust animal
bedding). Captured with a Cubert Ultris X4 + SWIR rig — 6 spectral bands
at 450 / 550 / 625 nm (VIS) and 1050 / 1200 / 1450 nm (SWIR), 2400 × 4900
pixels per frame. 252 frames (193 train · 59 val), 51 frames carry
pixel-level polygon… See the full description on the dataset page: https://huggingface.co/datasets/cubert-gmbh/X4_SWIR_Industrial_Foreign_Object_Detection_Bedding.aloha_sim_transfer_cube_human_rawogb_cube_singleseparate-robots-sweep-cubesThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5-panda",
"total_episodes": 360,
"total_frames": 109008,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:360"
},
"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/separate-robots-sweep-cubes.droid-pnp-cube-stackingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "panda",
"total_episodes": 25,
"total_frames": 13595,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"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/jaehyeokdoo2/droid-pnp-cube-stacking.realman_transfer_cubeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "aloha",
"total_episodes": 77,
"total_frames": 32375,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:77"
},
"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/RainyBot/realman_transfer_cube.aloha_real_agilex_clean_cup_drawer_and_clean_cube_container-20250809CUB_test
Dataset Card for "CUB_test"
More Information needed
octo-small-simpler-cube-stack-rollout-bank-50
Octo-Small SIMPLER cube-stack rollout bank
This bank contains exactly 50 deterministic Octo-Small
rollouts for StackGreenCubeOnYellowCubeBakedTexInScene-v1: 3
successes and 47 failures. Every episode has a complete
61-frame H.264 video, a seven-frame contact sheet, losslessly stored per-step
telemetry, derived phase/geometry metrics, an external-LLM diagnosis, exact
evidence values, and a future action-patch hypothesis for failures.
Dataset:… See the full description on the dataset page: https://huggingface.co/datasets/lsnu/octo-small-simpler-cube-stack-rollout-bank-50.aloha_real_agilex_clean_cup_drawer_and_clean_cube_container-20250813cubemap-8kcubemaps_padding_16px_captioned_40kxarm_cube_binmarker
xarm_cube_binmarker
xArm7 phone-teleop dataset for cube ("pick up the cube") with the binmarker
tactile overlay burned into the camera frames: one arrow per gripper finger
(anchored at the finger center pad via forward kinematics) with fixed length
AND fixed direction (the sensor-frame pad normal — a rigid "flag" on the
finger), drawn iff that finger's binary contact state is ON. Ported from
LIBERO_contact_overlay's
binbars style, presented spatially.
The overlay carries only… See the full description on the dataset page: https://huggingface.co/datasets/EdwardoSunny/xarm_cube_binmarker.cerrado_cube_reg_2024aloha_sim_transfer_cube_scripted_rawaloha_sim_transfer_cube_human_rawpiperx-put-cube-in-drawer-20260908-87ep
PiperX: put the cube into the drawer — 2026-09-08
87 recorded episodes, 54,463 frames, 30 FPS, approximately 30.26 minutes of recorded frames.
Collected on 2026-09-08 in Asia/Shanghai; source file times span approximately 03:37–05:06.
Task: put the cube into the drawer.
Contents
LeRobot v3.0 layout, dual PiperX arms, 14-dimensional action and state vectors.
Three RGB camera streams (top, left wrist, right wrist) and corresponding depth PNG ZIP archives.
Additional… See the full description on the dataset page: https://huggingface.co/datasets/Travor278/piperx-put-cube-in-drawer-20260908-87ep.spatialtunnel
SpatialTunnel
SpatialTunnel is a Blender-rendered diagnostic dataset for studying how vision-language models represent spatial relations internally. It was introduced in Why Far Looks Up: Probing Spatial Representation in Vision-Language Models (arXiv:2605.30161).
Resources
Project page
Contrastive-probing code
SpatialTunnel generation code
Dataset Configurations
Config
File
Rows
Description
phase_variation
phase_variation-*.parquet
12… See the full description on the dataset page: https://huggingface.co/datasets/cubec/spatialtunnel.umi_sim_green_cube_v3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "xarm6",
"total_episodes": 100,
"total_frames": 24412,
"total_tasks": 1,
"total_videos": 0,
"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/gellert5225/umi_sim_green_cube_v3.