datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
robotwin_3d
RoboTwin 2.0 — 3D (RGB + Depth)
Bimanual manipulation data from the RoboTwin 2.0 simulator, in LeRobot v2.1 format, with per-camera ground-truth depth alongside RGB.
Tasks
50
Episodes
27,500 (550 per task, contiguous)
Frames
6,183,813
Robot
ALOHA-style bimanual, 14-DoF
Control rate
50 Hz
Cameras
3 (cam_high, cam_left_wrist, cam_right_wrist)
Resolution
240 × 320
Language instructions
1,039,891 unique corpus-wide; 100 entries per episode
Total size… See the full description on the dataset page: https://huggingface.co/datasets/flex-pi/robotwin_3d.PhysicalAI-Robotics-GR00T-Teleop-Sim
Simulation GR1 Tabletop Task 1K Dataset
Dataset Description:
The PhysicalAI-Robotics-GR00T-Teleop-GR1 dataset consists of 1000 teleoperation trajectories in simulation using the GR1 robot with upper body control. The simulation setup mimics tabletop manipulation tasks and uses RGB observations with a virtual camera. The robot is equipped with simulated Fourier hands.
This dataset is ready for non-commercial use.
Dataset Owner(s):
NVIDIA GEAR… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-Teleop-Sim.PhysicalAI-Robotics-GR00T-Teleop-GR1
Introduction
TL;DR: DreamDojo is a generalist robot world model pretrained on 44k hours of human egocentric data, showing unprecedented generalization to diverse objects and environments.
Project page: https://dreamdojo-world.github.io/
Paper: https://arxiv.org/abs/2602.06949
Code: https://github.com/NVIDIA/DreamDojo
How to Use
Check out https://github.com/NVIDIA/DreamDojo
Citation
@article{gao2026dreamdojo,
title={DreamDojo: A Generalist Robot… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-Teleop-GR1.umi-robots
umi-robots
Part of umi, an open web crawl published as Parquet. Before you use any of this, read the exclusion list at open-index/umi-meta and filter the rows it names. Published files are never rewritten, so the exclusion list is how a takedown reaches you, and applying it is a condition of using the data rather than a suggestion.
One row per robots.txt fetch: the host, when we asked, what the origin answered, the raw text if it served one, and the summary our parser read out… See the full description on the dataset page: https://huggingface.co/datasets/open-index/umi-robots.humanoid-robots-training-dataset
Dynamic Intelligence — Humanoid Robot Training Dataset
A first-person (egocentric) video dataset of human hand manipulation, designed for training humanoid robot policies via imitation learning. Each episode captures a person performing an everyday household task — folding clothes, moving dishes, opening doors — filmed from a head-mounted iPhone using its built-in LiDAR and depth sensors.
The dataset pairs each video with frame-level 3D hand tracking and camera pose data, giving… See the full description on the dataset page: https://huggingface.co/datasets/DynamicIntelligence/humanoid-robots-training-dataset.synthetic-bathroom-dataset-for-robotic-perception
Synthetic Bathroom Dataset for Robotic Perception
Generated by datapack-import.ts
This dataset mirrors public data-pack render outputs from Physicl.
Each row represents one render view. The image column contains a stable URL to the primary render image uploaded under /data; image_path stores the relative repository path and data_commit_sha pins the Hugging Face dataset commit used by those URLs. Files are uploaded as downloaded unless optional PNG recompression is enabled by the… See the full description on the dataset page: https://huggingface.co/datasets/physicl/synthetic-bathroom-dataset-for-robotic-perception.RoboTwin-LeRobot-unseen-tasks-cross-embsynthetic-living-room-dataset-for-robotic-perception
Synthetic Living Room Dataset for Robotic Perception
Generated by datapack-import.ts
This dataset mirrors public data-pack render outputs from Physicl.
Each row represents one render view. The image column contains a stable URL to the primary render image uploaded under /data; image_path stores the relative repository path and data_commit_sha pins the Hugging Face dataset commit used by those URLs. Files are uploaded as downloaded unless optional PNG recompression is enabled by… See the full description on the dataset page: https://huggingface.co/datasets/physicl/synthetic-living-room-dataset-for-robotic-perception.duckjam-dw2-vault
The Duck Jam Vault
Every submission entered in Duck Jam and every run the Arena
scored, as two Parquet tables and one JSON board per round. A publisher job rewrites this
repository once a day, so its git history is the history of every leaderboard.
This repository is a view. The rows themselves are written, once and never edited, into public
Hugging Face Buckets by the components that make them:
hf://buckets/Nico-robot/duckjam-submissions, hf://buckets/Nico-robot/duckjam-runs… See the full description on the dataset page: https://huggingface.co/datasets/Nico-robot/duckjam-dw2-vault.roboturk_lerobotThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "sawyer",
"total_episodes": 1796,
"total_frames": 168423,
"total_tasks": 3,
"total_videos": 1796,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1796"
},
"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/IPEC-COMMUNITY/roboturk_lerobot.PhysicalAI-Robotics-Manipulation-Kitchen
PhysicalAI Robotics Manipulation in the Kitchen
Dataset Description:
PhysicalAI-Robotics-Manipulation-Kitchen is a dataset of automatic generated motions of robots performing operations such as opening and closing cabinets, drawers, dishwashers and fridges. The dataset was generated in IsaacSim leveraging reasoning algorithms and optimization-based motion planning to find solutions to the tasks automatically [1, 3]. The dataset includes a bimanual manipulator built with… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Kitchen.matches
Robot Football League — matches
Two-a-side football played by simulated humanoid robots — real joints, real
mass, physics rather than animation — three fixtures a day, refereed by nobody.
This dataset is the league's G1 division archive: the motion, the
events, and a watchable 3D file for every G1 match that has aired.
▶ Watch a match from any angle: the Space
· 4dgsx.com · the league
📄 Write-up: A robot football league, with all the motion data freely
available… See the full description on the dataset page: https://huggingface.co/datasets/robot-football-league/matches.leju_robot_moving_parts_f
leju_robot_moving_parts_f
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: leju_robot
| Codebase Version: v2.1
End-Effector Type: five_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
place
pick
📊 Dataset Statistics
Metric
Value
Total Episodes
489… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/leju_robot_moving_parts_f.leju_robot_pass_the_cleaner_d
leju_robot_pass_the_cleaner_d
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: leju_robot
| Codebase Version: v2.1
End-Effector Type: five_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
industry
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics
Metric
Value
Total… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/leju_robot_pass_the_cleaner_d.leju_robot_pass_the_cleaner_c
leju_robot_pass_the_cleaner_c
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: leju_robot
| Codebase Version: v2.1
End-Effector Type: five_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
industry
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics
Metric
Value
Total… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/leju_robot_pass_the_cleaner_c.leju_robot_moving_parts_o
leju_robot_moving_parts_o
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: leju_robot
| Codebase Version: v2.1
End-Effector Type: five_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
place
pick
📊 Dataset Statistics
Metric
Value
Total Episodes
490… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/leju_robot_moving_parts_o.leju_robot_part_placement
leju_robot_part_placement
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: leju_robot
| Codebase Version: v2.1
End-Effector Type: five_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
place
pick
📊 Dataset Statistics
Metric
Value
Total Episodes
538… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/leju_robot_part_placement.PhysicalAI-Robotics-GR00T-Teleop-G1
Unitree G1 Fruits Pick and Place 1K Dataset
Dataset Description:
The PhysicalAI-Robotics-GR00T-Teleop-G1 dataset consists of1000 teleoperation trajectories of real robot data using Unitree G1, with upper body control. The robot chooses the correct fruit to pick and place on the plate according to the language prompt. A total of 4 fruits are used: Apple, Pear, Starfruit, Grape. The robot is equipped with the default realsense camera, and a pair of Unitree G1 Tri-fingers… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-Teleop-G1.leju_robot_moving_parts_k
leju_robot_moving_parts_k
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: leju_robot
| Codebase Version: v2.1
End-Effector Type: five_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
place
pick
📊 Dataset Statistics
Metric
Value
Total Episodes
329… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/leju_robot_moving_parts_k.leju_robot_pass_the_cleaner_a
leju_robot_pass_the_cleaner_a
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: leju_robot
| Codebase Version: v2.1
End-Effector Type: five_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
industry
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics
Metric
Value
Total… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/leju_robot_pass_the_cleaner_a.leju_robot_moving_parts_q
leju_robot_moving_parts_q
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: leju_robot
| Codebase Version: v2.1
End-Effector Type: five_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
place
pick
📊 Dataset Statistics
Metric
Value
Total Episodes
494… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/leju_robot_moving_parts_q.leju_robot_moving_parts_r
leju_robot_moving_parts_r
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: leju_robot
| Codebase Version: v2.1
End-Effector Type: five_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
place
pick
📊 Dataset Statistics
Metric
Value
Total Episodes
495… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/leju_robot_moving_parts_r.leju_robot_box_storage_parcel_g
leju_robot_box_storage_parcel_g
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: leju_robot
| Codebase Version: v2.1
End-Effector Type: five_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics
Metric
Value
Total Episodes
492… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/leju_robot_box_storage_parcel_g.leju_robot_pass_the_cleaner_b
leju_robot_pass_the_cleaner_b
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: leju_robot
| Codebase Version: v2.1
End-Effector Type: five_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
industry
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics
Metric
Value
Total… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/leju_robot_pass_the_cleaner_b.leju_robot_pass_the_cleaner_e
leju_robot_pass_the_cleaner_e
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: leju_robot
| Codebase Version: v2.1
End-Effector Type: five_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
industry
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics
Metric
Value
Total… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/leju_robot_pass_the_cleaner_e.robotwin_rolloutleju_robot_moving_parts_t
leju_robot_moving_parts_t
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: leju_robot
| Codebase Version: v2.1
End-Effector Type: five_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
place
pick
📊 Dataset Statistics
Metric
Value
Total Episodes
493… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/leju_robot_moving_parts_t.duobench_raw
DuoBench Raw Dataset
This is the raw dataset collected for the FR3 Duo Benchmark DuoBench.
The format is a raw parquet format that includes additional information such as robot state (real) and sim state (sim) which are filtered out for training.
If you are looking for the converted hugging face dataset ready for training, see this dataset.
You can also manually convert this raw dataset to the hugging face format with the following command:
# install rcs:… See the full description on the dataset page: https://huggingface.co/datasets/RobotControlStack/duobench_raw.leju_robot_hotel_services_e
leju_robot_hotel_services_e
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: leju_robot
| Codebase Version: v2.1
End-Effector Type: five_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics
Metric
Value
Total Episodes
309… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/leju_robot_hotel_services_e.leju_robot_box_storage_parcel_f
leju_robot_box_storage_parcel_f
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: leju_robot
| Codebase Version: v2.1
End-Effector Type: five_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics
Metric
Value
Total Episodes
497… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/leju_robot_box_storage_parcel_f.