datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
libero-assetsmetaworld_mt50This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "metaworld",
"total_episodes": 2500,
"total_frames": 204806,
"total_tasks": 50,
"chunks_size": 1000,
"fps": 80,
"splits": {
"train": "0:2500"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/metaworld_mt50.calvin-task-ABC-D-lerobotlibero_90_lerobotThis is the processed dataset for LIBERO 90 in huggingface LeRobot format to be used for π₀ fine-tuning. The original OpenVLA repo here does not contain LIBERO 90, for RLDS -> LeRobot conversion, so I'm publishing this here. LIBERO 90 data has been preprocessed to remove no-ops, unsuccessful trajectories, and had its image observations flipped back upright according to the script OpenVLA authors provided.
pusht_imageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 206,
"total_frames": 25650,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:206"
},
"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/pusht_image.thinking_droid_lerobot_output_qwen3vlaloha_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.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.calvin-task-ABCD-D-lerobotSonoGym_lerobot_dataset
SonoGym Lerobot Dataset
This repository contains the expert datasets collected for the paper SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound. These datasets are specifically designed to facilitate the training of imitation learning policies for complex robotic surgical tasks, particularly those involving robotic ultrasound.
The dataset is a part of the broader SonoGym project, a scalable simulation platform built on NVIDIA IsaacLab that… See the full description on the dataset page: https://huggingface.co/datasets/yunkao/SonoGym_lerobot_dataset.robomme_data_lerobot
RoboMME Training Data (LeRobot Format)
Arxiv Paper | HF Paper | Website | Benchmark Code | Policy Learning Code
This repo contains Lerobot format of RoboMME training data.
We use this in our Diffusion Policy training code
calvin_lerobotthinking_furniture_bench_dataset_lerobot_output_qwen3vlvlabench_primitive_ft_lerobotVLA_Arena_L0_L_lerobot_openpi
VLA-Arena Dataset (L0 - Large Variant)
About VLA-Arena
VLA-Arena is an open-source benchmark designed for the systematic evaluation of Vision-Language-Action (VLA) models. It provides a complete and unified toolchain covering scene modeling, demonstration collection, model training, and evaluation. Featuring 150+ tasks across 11 specialized suites, VLA-Arena assesses models through hierarchical difficulty levels (L0-L2) to ensure comprehensive metrics for safety… See the full description on the dataset page: https://huggingface.co/datasets/VLA-Arena/VLA_Arena_L0_L_lerobot_openpi.libero_10_imageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 379,
"total_frames": 101469,
"total_tasks": 10,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:379"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/libero_10_image.thinking_fmb_dataset_lerobot_output_qwen3vllibero_object_imageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 454,
"total_frames": 66984,
"total_tasks": 10,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:454"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/libero_object_image.robomme_data_lerobot_v3libero-10-lerobotThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "panda",
"total_episodes": 379,
"total_frames": 101499,
"total_tasks": 10,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:379"
},
"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/Felix-Zhenghao/libero-10-lerobot.xarm_lift_medium_imageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 800,
"total_frames": 20000,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:800"
},
"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/xarm_lift_medium_image.xarm_lift_medium_replay_imageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 800,
"total_frames": 20000,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:800"
},
"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/xarm_lift_medium_replay_image.xarm_push_medium_imageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 800,
"total_frames": 20000,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
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},
"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/xarm_push_medium_image.libero_spatial_imageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 432,
"total_frames": 52970,
"total_tasks": 10,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:432"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/libero_spatial_image.xarm_push_medium_replay_imageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 800,
"total_frames": 20000,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:800"
},
"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/xarm_push_medium_replay_image.robomme_data_lerobotunitree-g1-hardware-modifications
Unitree G1 Hardware Modifications
Custom 3D-printable parts and reference photos for modifying the Unitree G1: OpenArm
grippers on the wrists, an extra head camera, and a backpack enclosure for the CAN-FD interface
and cabling.
Everything here is printable geometry plus photos of the assembled result — there is no
firmware or control code in this repo.
Modifications
1. Gripper on the G1 wrist
The gripper itself is the stock gripper from the OpenArm… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/unitree-g1-hardware-modifications.calvin_task_D_D_scale_100_lerobo_formatThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "panda",
"total_episodes": 5124,
"total_frames": 303794,
"total_tasks": 389,
"total_videos": 0,
"total_chunks": 6,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:5124"
},
"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/ducido/calvin_task_D_D_scale_100_lerobo_format.