datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
robocasa365-pretrain-mg
Pretraining (MimicGen) — atomic
MimicGen-generated rollouts across 60 atomic tasks (~10,000 demos/task). 1,615 hours total, generated by scripted augmentation from human demonstrations.
Part of the RoboCasa365 collection. Flat LeRobot v3.0 mirror of RoboCasa365 — standard layout, drop-in loadable.
Stats
Episodes: 536,030
Frames: 116,246,439 (20 fps → 1615 h)
Tasks: 720 (natural-language phrasings; underlying RoboCasa task classes: 60)
Cameras: 3 × 256×256 h264 video… See the full description on the dataset page: https://huggingface.co/datasets/ember-lab-berkeley/robocasa365-pretrain-mg.robocasa365-pretrain-composite
Pretraining (Human) — composite
Human teleoperation data for 235 composite (multi-step) tasks (~100 demos/task). The long-horizon half of RoboCasa365's 482-hour pretraining-human dataset.
Part of the RoboCasa365 collection. Flat LeRobot v3.0 mirror of RoboCasa365 — standard layout, drop-in loadable.
Stats
Episodes: 24,687
Frames: 27,610,913 (20 fps → 383 h)
Tasks: 4,428 (natural-language phrasings; underlying RoboCasa task classes: 235)
Cameras: 3 × 256×256 h264… See the full description on the dataset page: https://huggingface.co/datasets/ember-lab-berkeley/robocasa365-pretrain-composite.robocasa_mg_gr00t_300robocasa365-target-composite-seen
Target (Human) — composite-seen
Human teleoperation data for 16 composite tasks (500 demos/task) recorded in 10 held-out target kitchens. All tasks are also represented in the pretraining datasets ('composite-seen').
Part of the RoboCasa365 collection. Flat LeRobot v3.0 mirror of RoboCasa365 — standard layout, drop-in loadable.
Stats
Episodes: 8,077
Frames: 6,002,265 (20 fps → 83 h)
Tasks: 382 (natural-language phrasings; underlying RoboCasa task classes: 16)… See the full description on the dataset page: https://huggingface.co/datasets/ember-lab-berkeley/robocasa365-target-composite-seen.robocasa_target_human_unifiedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "robocasa",
"total_episodes": 25307,
"total_frames": 14957899,
"total_tasks": 50,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:25307"
},
"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/lerobot/robocasa_target_human_unified.robocasa365-pretrain-atomic
Pretraining (Human) — atomic
Human teleoperation data for 65 atomic single-skill tasks (~100 demos/task). Part of RoboCasa365's 482-hour pretraining-human dataset.
Part of the RoboCasa365 collection. Flat LeRobot v3.0 mirror of RoboCasa365 — standard layout, drop-in loadable.
Stats
Episodes: 7,356
Frames: 1,495,313 (20 fps → 21 h)
Tasks: 617 (natural-language phrasings; underlying RoboCasa task classes: 65)
Cameras: 3 × 256×256 h264 video (robot0_agentview_left / _right… See the full description on the dataset page: https://huggingface.co/datasets/ember-lab-berkeley/robocasa365-pretrain-atomic.robocasa365-target-composite-unseen
Target (Human) — composite-unseen
Human teleoperation data for 16 composite tasks (500 demos/task) recorded in 10 held-out target kitchens. These tasks are NOT represented in the pretraining datasets ('composite-unseen') — held-out generalization benchmark.
Part of the RoboCasa365 collection. Flat LeRobot v3.0 mirror of RoboCasa365 — standard layout, drop-in loadable.
Stats
Episodes: 8,104
Frames: 6,724,287 (20 fps → 93 h)
Tasks: 608 (natural-language phrasings;… See the full description on the dataset page: https://huggingface.co/datasets/ember-lab-berkeley/robocasa365-target-composite-unseen.robocasa-combinedrobocasa_pretrain_human300_v4_annotated5This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"observation.images.robot0_agentview_left": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {… See the full description on the dataset page: https://huggingface.co/datasets/pepijn223/robocasa_pretrain_human300_v4_annotated5.robocasa24-cache-batch1-base50
RoboCasa Atomic-24 Batch 1 Cache
Final Geometry and Semantic cache artifacts for the first 50 (base50) episodes
of every RoboCasa Atomic-24 task.
Release summary
Tasks: 24
Episodes per task: 50
Total policy frames: 332,859
Geometry: 24/24 PASS, float32, 2,048 dimensions, zero NaN/Inf
Semantic: 24/24 PASS
Dataset revision: 7236e704a04ebe477cc06d0a06ad540cd968fa5d
Cache tools commit: e61d47c97bb81ed37c5fc7c72454d0144fd0f740
The source RGB/mask HDF5 payload, Motion… See the full description on the dataset page: https://huggingface.co/datasets/xc1204/robocasa24-cache-batch1-base50.robocasa_pretrain_human300_v4This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"observation.images.robot0_agentview_left": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {… See the full description on the dataset page: https://huggingface.co/datasets/pepijn223/robocasa_pretrain_human300_v4.robocasa365-target-atomic
Target (Human) — atomic-seen
Human teleoperation data for 18 atomic tasks (500 demos/task) recorded in 10 held-out target kitchens. All tasks are also represented in the pretraining datasets ('atomic-seen').
Part of the RoboCasa365 collection. Flat LeRobot v3.0 mirror of RoboCasa365 — standard layout, drop-in loadable.
Stats
Episodes: 9,126
Frames: 2,231,347 (20 fps → 31 h)
Tasks: 231 (natural-language phrasings; underlying RoboCasa task classes: 18)
Cameras: 3 ×… See the full description on the dataset page: https://huggingface.co/datasets/ember-lab-berkeley/robocasa365-target-atomic.robocasa-mimicgenThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"observation.images.robot0_eye_in_hand": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {… See the full description on the dataset page: https://huggingface.co/datasets/euijinrnd/robocasa-mimicgen.robocasa_mg_gr00t_100robocasa-100demos-5chosen-tasks_v4This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 364,
"total_frames": 92882,
"total_tasks": 96,
"total_videos": 2184,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:364"
},
"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/binhng/robocasa-100demos-5chosen-tasks_v4.robocasa-MG_3000This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "robomimic",
"total_episodes": 70513,
"total_frames": 19636669,
"total_tasks": 340,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:70513"},
"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/DAVIAN-Robotics/robocasa-MG_3000.failbench-robocasa-v2
FailBench RoboCasa v2 — contact-prediction dataset
Labeled robot-failure trials built on RoboCasa kitchen demos (PandaMobile / Franka).
Each trial injects a hardware failure partway through a teleop/MimicGen demo, then records the
contacts the failure causes during a 1-second settle. The supervised target is a
240×320 force-weighted contact heatmap in the agentview camera — the model learns to predict
where a failure at a given pre-failure configuration will drive the… See the full description on the dataset page: https://huggingface.co/datasets/aaronngx/failbench-robocasa-v2.robocasa-30-6chosen-tasks-for-aBao_lerobot_v1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 123,
"total_frames": 41284,
"total_tasks": 84,
"total_videos": 738,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:123"},
"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/binhng/robocasa-30-6chosen-tasks-for-aBao_lerobot_v1.robocasa_mg_gr00t_30robocasa_targetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "PandaOmron",
"total_episodes": 25307,
"total_frames": 14957899,
"total_tasks": 1221,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:25307"},
"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/BrunoM42/robocasa_target.robocasa_100_demos_lerobot_5_chosen_tasks_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 364,
"total_frames": 92882,
"total_tasks": 96,
"total_videos": 2184,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:364"
},
"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/vrfai/robocasa_100_demos_lerobot_5_chosen_tasks_v2.arp-decision131-robocasa-libero-20
Decision-131 complete RoboCasa + LIBERO-PRO subset
This repository contains the complete data package requested for the 20 task
identities selected in ARP decision 131.
RoboCasa human demonstrations
10 target tasks
5,101 episodes
2,680,229 frames at 20 Hz
Actions, robot state, episode/task metadata, and three synchronized 256×256
H.264 camera streams
176 MP4 files and 8 Parquet files
The episodes were selected from
lerobot/robocasa_target_human_unified
at… See the full description on the dataset page: https://huggingface.co/datasets/mojimoji61/arp-decision131-robocasa-libero-20.unitree-g1-robocasa-pick-apple-bowl-depth-1k
Unitree G1 Apple Pick and Place with Depth Dataset
Front View (Global)
Side View (Profile)
Top-Down View (Bird's Eye)
Ego-Centric View (Robot POV)
Multi-view perspectives of the Unitree G1 performing the pick-and-place task.
Depth Data Visualization
To aid in understanding the raw depth values, here… See the full description on the dataset page: https://huggingface.co/datasets/jnsungp/unitree-g1-robocasa-pick-apple-bowl-depth-1k.unitree-g1-robocasa-pick-apple-bowl-contact-1k
Unitree G1 Apple Pick and Place with Contact Force Dataset
Front View (Global)
Side View (Profile)
Top-Down View (Bird's Eye)
Ego-Centric View (Robot POV)
Multi-view perspectives of the Unitree G1 performing the pick-and-place task.
Dataset Description
The Unitree G1 Apple Pick and Place with Contact… See the full description on the dataset page: https://huggingface.co/datasets/jnsungp/unitree-g1-robocasa-pick-apple-bowl-contact-1k.robocasa_gr1_tabletop_tasks_fingertipsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "robomimic",
"total_episodes": 2235,
"total_frames": 552031,
"total_tasks": 20,
"total_videos": 2235,
"total_chunks": 3,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:2235"
},
"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/ishika/robocasa_gr1_tabletop_tasks_fingertips.robocasa_lightbulbscrew_dexThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.images.robot0_agentview_left": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {… See the full description on the dataset page: https://huggingface.co/datasets/akuramshin/robocasa_lightbulbscrew_dex.robocasa_pickplace_countertosink1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"observation.images.robot0_eye_in_hand": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {… See the full description on the dataset page: https://huggingface.co/datasets/latentforce/robocasa_pickplace_countertosink1.robocasa-100demos-6chosen-tasks-for-aBao_lerobot_v1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 414,
"total_frames": 140509,
"total_tasks": 146,
"total_videos": 2484,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:414"},
"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/binhng/robocasa-100demos-6chosen-tasks-for-aBao_lerobot_v1.robocasa_gr1_tabletop_tasksThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "robomimic",
"total_episodes": 2235,
"total_frames": 552031,
"total_tasks": 20,
"total_videos": 2235,
"total_chunks": 3,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:1877",
"test": "1877:2235"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/ishika/robocasa_gr1_tabletop_tasks.robocasa_lightbulbscrew_dex_filteredThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.images.robot0_agentview_left": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {… See the full description on the dataset page: https://huggingface.co/datasets/akuramshin/robocasa_lightbulbscrew_dex_filtered.