datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
aloha_sim_insertion_human_imageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 25000,
"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_insertion_human_image.aloha_sim_insertion_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_insertion_scripted_image.robocasa_insertion_lerobotThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "panda",
"total_episodes": 6000,
"total_frames": 1844130,
"total_tasks": 2,
"total_videos": 0,
"total_chunks": 6,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:6000"
},
"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/daixianjie/robocasa_insertion_lerobot.aloha_sim_insertion_human_imageThis dataset was created using LeRobot.
meta/info.json
{
"codebase_version": "v2.0",
"data_path": "data/train-{episode_index:05d}-of-{total_episodes:05d}.parquet",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 25000,
"total_tasks": 1,
"fps": 50,
"splits": {
"train": "0:50"
},
"keys": [
"observation.state",
"action"
],
"video_keys": [],
"image_keys": [
"observation.images.top"
],
"shapes":… See the full description on the dataset page: https://huggingface.co/datasets/aliberts/aloha_sim_insertion_human_image.aloha_sim_insertion_humanThis 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":… See the full description on the dataset page: https://huggingface.co/datasets/Abdorifaat/aloha_sim_insertion_human.peg_insertionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5e",
"total_episodes": 23,
"total_frames": 9423,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:23"
},
"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/akuramshin/peg_insertion.Object_insertion_valsim_insertion_scriptedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 60,
"total_frames": 24000,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:60"
},
"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/hongdaaaaaaaa/sim_insertion_scripted.aloha_sim_insertion_scripted_rawaloha_sim_insertion_human_with_depth_imagesrobot-fixture-insertion-cosmos-smoke-20260427
robot_fixture_insertion Cosmos Success Dataset
Binary yes/no visual success-classification dataset for Cosmos-Reason fine-tuning.
Task
Classify whether the robot successfully inserted the black plastic fixture piece into the matching slot from a single close-up RGB image.
Success Definition
The black plastic piece is seated in the matching slot in the intended final pose; failed insertions include unseated, misaligned, partial, or visibly unsuccessful insertion… See the full description on the dataset page: https://huggingface.co/datasets/LarsJohaNV/robot-fixture-insertion-cosmos-smoke-20260427.aloha_sim_insertion_human_rawpeg_insertion_vslamThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5e",
"total_episodes": 23,
"total_frames": 9423,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:23"
},
"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/akuramshin/peg_insertion_vslam.aloha_sim_insertion_scripted_image_rawaloha_sim_insertion_human_with_segument_images_v2aic-cable-insertion-gazebo-v3
AIC Dexterous Cable Insertion — Gazebo (LeRobot v3)
Simulated demonstration dataset for the dexterous cable-insertion task from
the AI for Industry Challenge (AIC) 2026, Qualification phase. Recorded in
the Gazebo AIC simulator from an autonomous demonstrator policy and packaged in
the LeRobot v3 format.
Dataset summary
Format
LeRobot v3.0
Robot type
aic_controller
Episodes
274
Frames
289,753
FPS
20
Tasks
1 — "Insert the cable connector into… See the full description on the dataset page: https://huggingface.co/datasets/ivogeorg/aic-cable-insertion-gazebo-v3.aloha_sim_insertion_scripted_rawaloha_sim_insertion_human_with_instructionsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 25000,
"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/S-sirigiri/aloha_sim_insertion_human_with_instructions.aic_synthetic_cable_insertionaloha_sim_insertion_human_with_segument_images_v1aloha_sim_insertion_human_rawaloha_sim_insertion_human_image_rawrobot-fixture-insertionaic_cheatcode_cable_insertionaic-sfp-insertion-smooth-r2p0-pose215-288x256forcebenchmark-usb-insertion-v1-antipenetration-no-force-20260730smart-insertion-v-dataset
smart-insertion-v-dataset
Index files
Each folder has one index file. Every path inside an index is relative to the folder
that contains that index.
video1/info.json
video1/part1/info.json
video1/part2/info.json
video1/part3/info.json
video1/part4/info.json
video2/info.json
image/info.json
video1/info.json covers all four parts together, so its paths begin with part1/ … part4/.
Download
# everything
hf download Massyzs/smart-insertion-v-dataset… See the full description on the dataset page: https://huggingface.co/datasets/Massyzs/smart-insertion-v-dataset.obj-insertion-datasetinsertion_dataset_expand_videoforcebenchmark-usb-insertion-v1-force-single-camera-20260731