datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
wb_pointed_chair_pull_push_rgb
wb_pointed_chair_pull_push_rgb
Whole-body teleoperation data from a Unitree_G1_WholeBody_RGB, published in LeRobot v2.1 format.
Published in the v2.1 layout (one parquet and one video clip per episode) so it loads directly on older lerobot releases. On lerobot v3.0+ run the official upgrade first:
python -m lerobot.datasets.v30.convert_dataset_v21_to_v30 --repo-id=DaoyuanZhu/wb_pointed_chair_pull_push_rgb
Task — pull out the chair indicated by the human gesture, then push it… See the full description on the dataset page: https://huggingface.co/datasets/DaoyuanZhu/wb_pointed_chair_pull_push_rgb.egocentric-stereo-rgbd
Hub Egocentric: Stereo RGB-D
9 egocentric stereo RGB-D clips with dense metric depth, IMU, 6-DoF VIO pose, and calibration. Each clip carries a self-contained LeRobot v3.0 dataset (loads on lerobot >= 0.6.0) plus side-by-side stereo, mono, a colorized depth preview, and a Foxglove MCAP recording.
Part of the Hub Egocentric Human Demonstrations Sample Set collection. Captured on StereoLabs ZED X Mini. Egocentric, human-demonstration data (passive; no robot action stream). July… See the full description on the dataset page: https://huggingface.co/datasets/Hubdata/egocentric-stereo-rgbd.behavior1k-only-rgbThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "R1Pro",
"total_episodes": 10000,
"total_frames": 119094660,
"total_tasks": 50,
"total_videos": 90000,
"chunks_size": 10000,
"fps": 30,
"splits": {
"train": "0:10000"
},
"data_path": "data/task-{episode_chunk:04d}/episode_{episode_index:08d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/k1000dai/behavior1k-only-rgb.maniskill3-sft-rgb-lerobot-1200epThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "maniskill3_sim",
"total_episodes": 1200,
"total_frames": 171480,
"total_tasks": 6,
"total_videos": 0,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:1200"
},
"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/onnoboru/maniskill3-sft-rgb-lerobot-1200ep.egocentric-gopro-rgb-imu
Hub Egocentric: GoPro RGB+IMU
19 egocentric human-manipulation clips captured on GoPro HERO13, with high-rate IMU (~200 Hz GPMF) delivered as CSV/Parquet/JSON sidecars plus a Foxglove MCAP recording.
Part of the Hub Egocentric Human Demonstrations Sample Set collection. Captured on GoPro HERO13. Egocentric, human-demonstration data (passive; no robot action stream). July 2026.
Dataset structure
Each clip is a top-level folder named #NN_... holding its media, a… See the full description on the dataset page: https://huggingface.co/datasets/Hubdata/egocentric-gopro-rgb-imu.every_frame_right_rgbtable_spill_cleanup_bimanual_rgbd_segmentation_poses
Exylos Bimanual Table Spill Cleanup Rich-Modality Sample
A compact, rich-modality bimanual robot manipulation dataset for tabletop spill cleanup.
Each episode combines synchronized dual-arm Panda state/action trajectories, 7 RGB camera streams, per-frame depth maps, per-frame segmentation masks, object pose streams, phase annotations, and an objective cleanup success metric based on the remaining spill fraction.
This dataset is a rich-modality inspection sample for the Exylos… See the full description on the dataset page: https://huggingface.co/datasets/ExylosAi/table_spill_cleanup_bimanual_rgbd_segmentation_poses.task1_1_5_rgb_recover_up_down_trim_194epThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"arm_left_joint_0",
"arm_left_joint_1",
"arm_left_joint_2",
"arm_left_joint_3",
"arm_left_joint_4"… See the full description on the dataset page: https://huggingface.co/datasets/takeru01/task1_1_5_rgb_recover_up_down_trim_194ep.robotwin_blocks_ranking_rgb_hybrid_200_dynFcam
robotwin_blocks_ranking_rgb_hybrid_200_dynFcam
A validated LeRobot v2.1 release of two native RoboTwin 2.0 expert schedules for blocks_ranking_rgb.
The variants use independent accepted seeds and are concatenated into one training split; matching episode offsets are not paired scenes.
dynFcam observation derivative
This repository reuses exactly the same validated native episodes as Shiki42/robotwin_blocks_ranking_rgb_hybrid_200 at revision… See the full description on the dataset page: https://huggingface.co/datasets/Shiki42/robotwin_blocks_ranking_rgb_hybrid_200_dynFcam.egocentric-iphone-rgb-imu
Hub Egocentric: iPhone RGB+IMU
12 egocentric human-manipulation clips captured on iPhone, with nominal 30 Hz CoreMotion + ARKit IMU/attitude on the shared media timeline, delivered as CSV/Parquet/JSON sidecars plus a Foxglove MCAP recording and per-clip camera intrinsics.
Across this 12-clip sample, IMU row count is 0–4 boundary rows lower than decoded video frame count (≤0.035%).
Part of the Hub Egocentric Human Demonstrations Sample Set collection. Captured on iPhone 13… See the full description on the dataset page: https://huggingface.co/datasets/Hubdata/egocentric-iphone-rgb-imu.task4_1_rgbThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"arm_left_joint_0",
"arm_left_joint_1",
"arm_left_joint_2",
"arm_left_joint_3",
"arm_left_joint_4"… See the full description on the dataset page: https://huggingface.co/datasets/takeru01/task4_1_rgb.dice_new_rgb_testThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 10,
"total_frames": 6098,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:10"
},
"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/jy13/dice_new_rgb_test.3d-dlp-repro-genericshapes-rgb
GenericShapes-RGB — synthetic RGB-voxel tabletop scenes
Training/evaluation corpus built for an independent reproduction of ICML 2026 paper #10351,
3D-DLP: Self-supervised 3D Object-centric Scene Representation Learning
(OpenReview vIotI25gJz, code
github.com/Eubooks3003/3d-dlp).
The paper's GenericShapes corpus (Appendix B.2) is described but not released, and the authors'
released generator scripts/generate_ply.py
writes colourless point clouds — the "RGB-coloured variant used… See the full description on the dataset page: https://huggingface.co/datasets/rvt832/3d-dlp-repro-genericshapes-rgb.task1_1_5_rgb_recover_up_downThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"arm_left_joint_0",
"arm_left_joint_1",
"arm_left_joint_2",
"arm_left_joint_3",
"arm_left_joint_4"… See the full description on the dataset page: https://huggingface.co/datasets/takeru01/task1_1_5_rgb_recover_up_down.task2_1_rgbThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"arm_left_joint_0",
"arm_left_joint_1",
"arm_left_joint_2",
"arm_left_joint_3",
"arm_left_joint_4"… See the full description on the dataset page: https://huggingface.co/datasets/takeru01/task2_1_rgb.task4_2_2_rgbThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"arm_left_joint_0",
"arm_left_joint_1",
"arm_left_joint_2",
"arm_left_joint_3",
"arm_left_joint_4"… See the full description on the dataset page: https://huggingface.co/datasets/takeru01/task4_2_2_rgb.task1_1_5_task1_1_6_rgbThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"arm_left_joint_0",
"arm_left_joint_1",
"arm_left_joint_2",
"arm_left_joint_3",
"arm_left_joint_4"… See the full description on the dataset page: https://huggingface.co/datasets/takeru01/task1_1_5_task1_1_6_rgb.task1_1_6_rgbThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"arm_left_joint_0",
"arm_left_joint_1",
"arm_left_joint_2",
"arm_left_joint_3",
"arm_left_joint_4"… See the full description on the dataset page: https://huggingface.co/datasets/takeru01/task1_1_6_rgb.task4_3_rgbThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"arm_left_joint_0",
"arm_left_joint_1",
"arm_left_joint_2",
"arm_left_joint_3",
"arm_left_joint_4"… See the full description on the dataset page: https://huggingface.co/datasets/takeru01/task4_3_rgb.keys_into_bowl_ob15_depth_rgbThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"names": [
"left_arm_shoulder_pan.pos",
"left_arm_shoulder_lift.pos",
"left_arm_elbow_flex.pos",
"left_arm_wrist_flex.pos",
"left_arm_wrist_roll.pos"… See the full description on the dataset page: https://huggingface.co/datasets/Odog16/keys_into_bowl_ob15_depth_rgb.runcam-feed-camera-egocentric-rgb-imu
RunCam Feed Camera - Egocentric RGB + IMU Sample Dataset
A small sample dataset captured with the RunCam Feed Camera for egocentric video and synchronized motion-sensor workflows.
Capture Device
Video: H.265 MP4, 1920x1080, 60 fps for V01-V06
Nominal video bitrate: 18 Mbps
Horizontal field of view: 126 degrees
Device weight: approximately 26 g
IMU: ICM-42607, 6-axis
IMU sampling rate: 800 Hz for the recordings in this sample
Firmware reported in the GCSV files:… See the full description on the dataset page: https://huggingface.co/datasets/RunCam/runcam-feed-camera-egocentric-rgb-imu.task4_1_task4_2_2_rgbThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"arm_left_joint_0",
"arm_left_joint_1",
"arm_left_joint_2",
"arm_left_joint_3",
"arm_left_joint_4"… See the full description on the dataset page: https://huggingface.co/datasets/takeru01/task4_1_task4_2_2_rgb.task1_1_5_rgb_nojumpThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"arm_left_joint_0",
"arm_left_joint_1",
"arm_left_joint_2",
"arm_left_joint_3",
"arm_left_joint_4"… See the full description on the dataset page: https://huggingface.co/datasets/takeru01/task1_1_5_rgb_nojump.train-rgb-all-depth-eyeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100_follower",
"total_episodes": 1,
"total_frames": 245,
"total_tasks": 1,
"total_videos": 3,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1"
},
"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/hngchris/train-rgb-all-depth-eye.sort_bolt_nut_rgbd_40epsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 40,
"total_frames": 10000,
"total_tasks": 4,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:40"
},
"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/zeuzei/sort_bolt_nut_rgbd_40eps.multispecqr-rgb-datasettask1_1_5_rgb_recover_up_down_trimThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "dual_ur5e_rosbag",
"total_episodes": 134,
"total_frames": 250300,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:134"
},
"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/takeru01/task1_1_5_rgb_recover_up_down_trim.pick-up-erasers-place-in-drawers-rgbd-v2-fixed-mergedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 15,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_yaw.pos",
"wrist_roll.pos",
"gripper.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/namin72/pick-up-erasers-place-in-drawers-rgbd-v2-fixed-merged.task1_1_5_rgb_nojump_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"arm_left_joint_0",
"arm_left_joint_1",
"arm_left_joint_2",
"arm_left_joint_3",
"arm_left_joint_4"… See the full description on the dataset page: https://huggingface.co/datasets/takeru01/task1_1_5_rgb_nojump_v2.every_frame_left_rgb