datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
ur5e_pi05_rollouts
UR5e pi0.5 rollouts
Policy rollouts of mahgoobi/ur5e_pi05_10k on a
real UR5e with a Robotiq gripper, task "put the cup in the bowl", collected 2026-09-01 from
the deployment page in RoboResearch
(roboresearch.evaluation.ur5e.ui). 25 episodes at 20 Hz, action chunks of 50 steps
with action_steps of them executed per chunk (25 for every episode but the first, which
ran 10). 20 successes, 5 failures. Every failure is in a scene with
three or more distractors; the clean and… See the full description on the dataset page: https://huggingface.co/datasets/mahgoobi/ur5e_pi05_rollouts.pi0_conversion_no_padThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "panda",
"total_episodes": 1417,
"total_frames": 166855,
"total_tasks": 33,
"total_videos": 0,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:1417"
},
"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/mlfu7/pi0_conversion_no_pad.RoboTwin-adjust_bottle-official-demo_clean50-Pi0_processed-datapi0_conversionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "panda",
"total_episodes": 1417,
"total_frames": 166855,
"total_tasks": 33,
"total_videos": 0,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:1417"
},
"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/mlfu7/pi0_conversion.ur5e_pi05_eval
UR5e pi0.5 evaluation
Evaluation of mahgoobi/ur5e_pi05_10k on a
real UR5e with a Robotiq gripper, 2026-09-02, from the deployment page in
RoboResearch. Five tasks, ten trials each, clean
scene, 25 of each 50-step chunk executed at 20 Hz.
Results
task
trials
success
failure
rate
put the cup in the bowl
10
9
1
90%
put the bowl on the rack
10
9
1
90%
put the mug on the coaster
10
10
0
100%
stack the two cubes
10
9
1
90%
put the book in the box
10
3… See the full description on the dataset page: https://huggingface.co/datasets/mahgoobi/ur5e_pi05_eval.maniskill_pi0This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "panda",
"total_episodes": 200,
"total_frames": 21321,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:200"
},
"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/Ruoxiang/maniskill_pi0.pi-0.5-dataset-lerobotrl_expert_franka_dataset_for_pi0_1M_filtered_for_pickupsmaxdex_nw_delta_14_pi0This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "aloha",
"total_episodes": 683,
"total_frames": 909829,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:683"
},
"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/jsun/maxdex_nw_delta_14_pi0.fixed_choco_pudding_pi0_3xThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 75,
"total_frames": 23630,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:75"
},
"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/windfromthenorth/fixed_choco_pudding_pi0_3x.fixed_choco_pudding_pi0_3x_beta_0.1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 150,
"total_frames": 53630,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:150"},
"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/windfromthenorth/fixed_choco_pudding_pi0_3x_beta_0.1.unquote_choco_pudding_pi0_3x_beta_0.03This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 150,
"total_frames": 53630,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:150"},
"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/windfromthenorth/unquote_choco_pudding_pi0_3x_beta_0.03.unquote_bottom_drawer_pi0_3xThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 80,
"total_frames": 21591,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:80"
},
"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/windfromthenorth/unquote_bottom_drawer_pi0_3x.unquote_stove_on3_pi0_3x_beta_0.1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 150,
"total_frames": 57658,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:150"},
"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/windfromthenorth/unquote_stove_on3_pi0_3x_beta_0.1.libero-spatial-pi0-pi0This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 432,
"total_frames": 52970,
"total_tasks": 10,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:432"
},
"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/k1000dai/libero-spatial-pi0-pi0.unquote_choco_pudding_pi0_3xThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 75,
"total_frames": 23630,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:75"
},
"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/windfromthenorth/unquote_choco_pudding_pi0_3x.pi0_jaka_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "jaka_s5",
"total_episodes": 25,
"total_frames": 6028,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"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/wangmingxuan/pi0_jaka_2.fixed_stove_on3_pi0_3x_beta_0.3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 150,
"total_frames": 57658,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:150"
},
"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/windfromthenorth/fixed_stove_on3_pi0_3x_beta_0.3.unquote_stove_on3_pi0_3x_beta_0.03This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 150,
"total_frames": 57658,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:150"},
"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/windfromthenorth/unquote_stove_on3_pi0_3x_beta_0.03.fixed_bottom_drawer_pi0_3xThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 80,
"total_frames": 21591,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:80"
},
"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/windfromthenorth/fixed_bottom_drawer_pi0_3x.pi0_libero_drawer_filteredThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 80,
"total_frames": 21591,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:80"
},
"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/windfromthenorth/pi0_libero_drawer_filtered.fixed_choco_pudding_pi0_3x_beta_0.3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 150,
"total_frames": 53630,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:150"},
"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/windfromthenorth/fixed_choco_pudding_pi0_3x_beta_0.3.my_pi0my_pi05_2fixed_bottom_drawer_pi0_3x_beta_0.1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 150,
"total_frames": 49591,
"total_tasks": 1,
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"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:150"},
"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/windfromthenorth/fixed_bottom_drawer_pi0_3x_beta_0.1.wow_pi05_alohaThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "aloha",
"total_episodes": 113,
"total_frames": 7232,
"total_tasks": 5,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:113"
},
"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/tatbot/wow_pi05_aloha.PaperBench-X-Embodied-Manipulation-Pi05-LIBERO
PaperBench-X — pi05 / LIBERO
Standalone embodied manipulation public-demo package for the released openpi
pi05_libero checkpoint on all four LIBERO suites. This repository intentionally
contains no navigation tasks and is not the general manipulation bundle.
What is here
path
content
task/
complete Harbor task, evaluator, rubric, scoring regression tests and report builder
raw_task/
canonical source used by convert_raw_to_rp.py
demo/
static… See the full description on the dataset page: https://huggingface.co/datasets/SueMintony/PaperBench-X-Embodied-Manipulation-Pi05-LIBERO.libero-pi05-colormin
LIBERO pi05 color-grounded twin (minimal grammar)
Exact twin of physical-intelligence/libero (the pi05 LIBERO finetune set):
1693 episodes / 273,465 frames, with byte-identical state, actions, proprio,
episode-selection and no-op filtering. The ONLY differences by design:
images recolored (agentview + wrist): every object tinted its per-episode color
task prompts rewritten to a minimal color grammar (e.g. put magenta on red and put green on blue)
LeRobot v2.0. Train with… See the full description on the dataset page: https://huggingface.co/datasets/adamzinebi/libero-pi05-colormin.LeRobot-Datasets-for-Pi0.5stove_on3_pi0_3x_sft_beta_0.03This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 127,
"total_frames": 10872,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:127"
},
"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/windfromthenorth/stove_on3_pi0_3x_sft_beta_0.03.