datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
Pagecalvin_d_joint
HiMoE-VLA: CALVIN Dataset (LeRobot format)
This dataset contains robotic demonstration data converted from CALVIN to the LeRobot format, used for training the HiMoE-VLA policy.
Paper: HiMoE-VLA: Hierarchical Mixture-of-Experts for Generalist Vision-Language-Action Policies
Repository: GitHub - ZhiyingDu/HiMoE-VLA
The data is converted from CALVIN using this conversion script.
joint-handover3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "kinova-arx",
"total_episodes": 45,
"total_frames": 44370,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:45"
},
"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/joint-handover3.transport-jointcola_firm_joint_rawechelon-joint-angles-fuzzedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "ur3e",
"total_episodes": 2608,
"total_frames": 77042,
"total_tasks": 13,
"total_videos": 0,
"total_chunks": 3,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:2608"
},
"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/mattmazzola/echelon-joint-angles-fuzzed.Joint-VisualCoT
Joint VisualCoT
Joint evidence SFT on Visual-CoT document pages. One assistant target:
{"bboxes_2d": [[x1,y1,x2,y2], ...], "selected_sentences": ["..."], "score_img": 0.0, "score_text": 0.0}
Boxes are integer xyxy in [0, 1000]. Images are not in this repo; resolve image under Visual-CoT cot_image_data/{image}
(deepcs233/Visual-CoT).
Code: Chenfei-Liao/MMProvenceChenfei.
Paper protocol
Image-level no-leak: Stage2 test images never enter Stage1 train (splits/image_splits.json).… See the full description on the dataset page: https://huggingface.co/datasets/Chenfei-Liao/Joint-VisualCoT.laion2B-multi-joined-translated-to-en-smolrlbench_joint_vel_action_lerobot_trainThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "panda",
"total_episodes": 1800,
"total_frames": 375567,
"total_tasks": 202,
"total_videos": 0,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1800"
},
"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/rlbench_joint_vel_action_lerobot_train.peg_rand_05_01_rcm_virtual_joints_and_3j_tool_cam0_1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 85,
"total_frames": 45695,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:85"
},
"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/radoolonto/peg_rand_05_01_rcm_virtual_joints_and_3j_tool_cam0_1.peg_rand_05_01_rcm_virtual_joints_and_3j_tool_cam0This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 85,
"total_frames": 45695,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:85"
},
"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/radoolonto/peg_rand_05_01_rcm_virtual_joints_and_3j_tool_cam0.joint-handoverThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "kinova-arx",
"total_episodes": 22,
"total_frames": 13512,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:22"
},
"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/joint-handover.peg_rand_05_01_rcm_virtual_joints_and_3j_tool_cam1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 85,
"total_frames": 45695,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:85"
},
"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/radoolonto/peg_rand_05_01_rcm_virtual_joints_and_3j_tool_cam1.cola_firm_joint_raw_5hzpeg_transfer_joint_position_12This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 80,
"total_frames": 9190,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:80"
},
"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/cagedBirdy/peg_transfer_joint_position_12.ours_joint_actioncut-joint-basketThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "kinova-arx",
"total_episodes": 20,
"total_frames": 12875,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:20"
},
"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/cut-joint-basket.rlbench_put_rubbish_in_bin_joint_positionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "panda",
"total_episodes": 100,
"total_frames": 14948,
"total_tasks": 5,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"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/iAyoD/rlbench_put_rubbish_in_bin_joint_position.peg_transfer_02_15_joint_positionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 80,
"total_frames": 9190,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:80"
},
"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/cagedBirdy/peg_transfer_02_15_joint_position.genesis_joint_position_2000_20fpsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 2007,
"total_frames": 423477,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 3,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:2007"
},
"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/kaveh-kamali/genesis_joint_position_2000_20fps.deep_learning_2025_vision_jointThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "omy",
"total_episodes": 50,
"total_frames": 10128,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"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/Jeongeun/deep_learning_2025_vision_joint.ur5_joint_fold_the_poloThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5_dual_arm",
"total_episodes": 60,
"total_frames": 37208,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:60"
},
"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/yzsun2025/ur5_joint_fold_the_polo.short-joint-basketThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "kinova-arx",
"total_episodes": 36,
"total_frames": 16244,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:36"
},
"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/short-joint-basket.piper_dual_playing_cards_1_500_jointjoint-basket-0726This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "kinova-arx",
"total_episodes": 30,
"total_frames": 18009,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:30"
},
"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/joint-basket-0726.peg_transfer_joint_position_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 80,
"total_frames": 9190,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:80"
},
"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/cagedBirdy/peg_transfer_joint_position_2.humanoid_18act_15state_joint_psiBones_and_Joints_Benchmark
The Bones and Joints Benchmark
Dataset Overview
We have developed a specialized dataset focused on musculoskeletal disorders, designed to systematically evaluate the clinical capabilities of visual language models (VLMs). The evaluation covers knowledge recall, clinical note interpretation, radiology image interpretation, diagnosis generation and rationale, treatment planning and rationale. The dataset primarily includes multiple-choice questions and open-ended… See the full description on the dataset page: https://huggingface.co/datasets/PUTH2025/Bones_and_Joints_Benchmark.pickplace_jointThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "easo",
"total_episodes": 2632,
"total_frames": 486252,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 3,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:2632"
},
"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/willx0909/pickplace_joint.chambord-mortar-joint-segmentation
Château de Chambord — Mortar Joint Segmentation
425 image patches (512×512) cut from high-resolution photographs of the Château de
Chambord, France, each paired with a binary mask marking the mortar joints between
stones.
Built-heritage conservation needs to measure how mortar joints erode over time. That means
segmenting them first.
Split
Patches
train
333
test
92
Fields
image — 512×512 RGB patch
mask — 512×512 binary mask (mode L, values {0… See the full description on the dataset page: https://huggingface.co/datasets/biglam/chambord-mortar-joint-segmentation.