datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
InternData-A1-LeRobot-v3.0-by-embodimentInternData-A1 dataset taken from InternRobotics/InternData-A1,
with the tarballs extracted and directory structure "transposed" so that the top-level subdirectories are the four embodiments.
Two franka dirs
For the franka embodiment, there are two different feature spaces, so we split it into the franka-1 and franka-2 directories.
The feature spaces differ in image shape and gripper value range.
Minor fixes
Some subsets such as… See the full description on the dataset page: https://huggingface.co/datasets/griffinlabs/InternData-A1-LeRobot-v3.0-by-embodiment.Inter-Edit-Train
Inter-Edit-Train
Inter-Edit-Train is the official large-scale training set released for the CVPR 2026 paper Inter-Edit: First Benchmark for Interactive Instruction-Based Image Editing.
This dataset is designed for the Interactive Instruction-based Image Editing (I^3E) task, where a model performs localized image edits from a concise textual instruction together with imprecise spatial guidance.
Highlights
1,099,964 image editing pairs
610,186 unique source images
Four… See the full description on the dataset page: https://huggingface.co/datasets/a1557811266/Inter-Edit-Train.ViZDoom-Deathmatch-PPO-XLrg
ViZDoom Deathmatch with pretrained PPO agent playing over 15 episodes.
nyush-galaxea-a1-fruit-placement
NYUSH Galaxea A1 — Fruit Placement
Formats and branches
Branch
Representation
main (default)
EEF · LeRobot v2.1
v3
EEF · LeRobot v3.0
joint-v2.1
Joint · LeRobot v2.1
raw-v3
Legacy raw recording schema v3
Preview
Each GIF contains both camera views on one shared playback clock. Left: Agent View; right: Wrist Camera. The timestamp shows elapsed dataset time; playback is 2× speed.
Put the banana into the blue plate… See the full description on the dataset page: https://huggingface.co/datasets/pengyue-polaron/nyush-galaxea-a1-fruit-placement.nyush-galaxea-a1-plug-insertion
NYUSH Galaxea A1 — Plug Insertion
Formats and branches
Branch
Representation
main (default)
EEF · LeRobot v2.1
v3
EEF · LeRobot v3.0
Preview
Each GIF contains both camera views on one shared playback clock. Left: Agent View; right: Wrist Camera. The timestamp shows elapsed dataset time; playback is 2× speed.
Pick up the charger and insert it into the first socket from the left on the power strip
Episode 14 ·… See the full description on the dataset page: https://huggingface.co/datasets/pengyue-polaron/nyush-galaxea-a1-plug-insertion.10M_PBMCViZDoom-Deathmatch-Random-XLrgnyush-galaxea-a1-relation
NYUSH Galaxea A1 — Relation
Data collected by KazimierzY.
Formats and branches
Branch
Representation
main (default)
EEF · LeRobot v2.1
v3
EEF · LeRobot v3.0
v2.1
EEF · LeRobot v2.1 (compatibility branch)
Preview
Each GIF contains both camera views on one shared playback clock. Left: Agent View; right: Wrist Camera. The timestamp shows elapsed dataset time; playback is 2× speed.
Approach the hamburger
Episode 47 ·… See the full description on the dataset page: https://huggingface.co/datasets/pengyue-polaron/nyush-galaxea-a1-relation.nyush-galaxea-a1-press-button-5s
NYUSH Galaxea A1 — Press Button 5s
Formats and branches
Branch
Representation
main (default)
EEF · LeRobot v2.1
v3
EEF · LeRobot v3.0
joint-v3
Joint · LeRobot v3.0
Preview
Each GIF contains both camera views on one shared playback clock. Left: Agent View; right: Wrist Camera. The timestamp shows elapsed dataset time; playback is 2× speed.
Press and hold the button for 5 seconds, then release it
Episode 0 ·… See the full description on the dataset page: https://huggingface.co/datasets/pengyue-polaron/nyush-galaxea-a1-press-button-5s.nyush-galaxea-a1-fruit-and-blocks
NYUSH Galaxea A1 — Fruit and Blocks
Formats and branches
Branch
Representation
main (default)
EEF · LeRobot v2.1
v3
EEF · LeRobot v3.0
Preview
Each GIF contains both camera views on one shared playback clock. Left: Agent View; right: Wrist Camera. The timestamp shows elapsed dataset time; playback is 2× speed.
Put the red block on the red plate
Episode 52 · complete episode · 11.90 s recorded.
Put the… See the full description on the dataset page: https://huggingface.co/datasets/pengyue-polaron/nyush-galaxea-a1-fruit-and-blocks.demo_tic_tac_toe_A1
demo_tic_tac_toe_A1
This dataset was generated using a phospho starter pack.
This dataset contains a series of episodes recorded with a robot and multiple cameras. It can be directly used to train a policy using imitation learning. It's compatible with LeRobot and RLDS.
phase1_pick_place_A1_10fps
Phase1 Pick Place A1 10Fps
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Pick up the red block and place it on the blue dish."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 100 (28,459 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on Isaac Sim 5.1 /… See the full description on the dataset page: https://huggingface.co/datasets/HyeonseokE/phase1_pick_place_A1_10fps.calce-a123-2014-dynamic
calce_a123_lfp_dynamic
BSEBench CALCE Tier-2 materialization generated during Step 3.
Source raw repo: bsebench-org/calce-a123-lfp-dynamic-raw
Loader-facing Parquet files: 48
SSoT sidecar files: 4 under sidecars_v1_0/
Raw zips were verified against manifest sha256 and size_bytes.
Canonical ledger cell is a representative v1.0 SSoT entry; full
per-cell/per-profile sidecar enumeration remains later M3 work.
tictactoe-A1-orange
tictactoe-A1-orange
This dataset was generated using a phospho starter pack.
This dataset contains a series of episodes recorded with a robot and multiple cameras. It can be directly used to train a policy using imitation learning. It's compatible with LeRobot and RLDS.
flip_A1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 5,
"total_frames": 2229,
"total_tasks":1,
"total_videos": 10,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:5"
},
"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/kantine/flip_A1.NVIDIA-Nemotron-3-Super-120B-A12B-FP8-eval-logs-and-scoresqfs-capture-a1ec5246f3ef
HF workflow a1ec5246f3ef11d323425ae8a9ea47ef
A root fidelity dataset in hidden form, produced by engines/tools/hf_capture.py from Qwen/Qwen3.8-27B.
The cut
the final hidden state handed to lm_head -- after the text model's final norm and immediately before the head matmul -- captured as the head module's input via torch.nn.Module.register_forward_pre_hook; replay applies the head ONLY (no final norm at replay time: the capture already sits after it). Same cut as… See the full description on the dataset page: https://huggingface.co/datasets/malaiwah/qfs-capture-a1ec5246f3ef.so100_ttt_A1_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 100,
"total_frames": 50800,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:100"
},
"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/kyomangold/so100_ttt_A1_v2.ffw_sg2_rev1_0601_Task_A1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ffw_sg2_rev1",
"total_episodes": 20,
"total_frames": 48010,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:20"
},
"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/HSJUSER/ffw_sg2_rev1_0601_Task_A1.so100_ttt_A1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 10,
"total_frames": 5980,
"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/kyomangold/so100_ttt_A1.pack-54o-of-my-project-53d7si-a11b689a
Outdoor Urban Structure Detection Eval
Evaluation dataset of 10 renders across 10 outdoor and urban environments (streets, alleyways, a street cafe, a pocket park, a street library) at 1024x1024, with albedo and metric depth passes and per-frame annotations, to measure a computer vision model's detection of urban structures such as buildings, roads and sidewalks.
This dataset mirrors public data-pack render outputs from Physicl.
Each row represents one render view. The image… See the full description on the dataset page: https://huggingface.co/datasets/physicl-community/pack-54o-of-my-project-53d7si-a11b689a.nyush-galaxea-a1-kitchen-no-memory
NYUSH Galaxea A1 — Kitchen
Formats and branches
Branch
Representation
main (default)
EEF · LeRobot v2.1
v3
EEF · LeRobot v3.0
Preview
Each GIF contains both camera views on one shared playback clock. Left: Agent View; right: Wrist Camera. The timestamp shows elapsed dataset time; playback is 2× speed.
Put the pot on the stove and turn on the switch
Episode 20 · complete episode · 24.33 s recorded.
Pour… See the full description on the dataset page: https://huggingface.co/datasets/pengyue-polaron/nyush-galaxea-a1-kitchen-no-memory.demo_tic_tac_toe_A1
demo_tic_tac_toe_A1
This dataset was generated using a phospho starter pack.
This dataset contains a series of episodes recorded with a robot and multiple cameras. It can be directly used to train a policy using imitation learning. It's compatible with LeRobot and RLDS.
pai-interview-a1-forklift-pallet-transport-vizThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "isaacsim_forkliftC",
"total_episodes": 2,
"total_frames": 5497,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:2"
},
"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/geonmin-kim/pai-interview-a1-forklift-pallet-transport-viz.so100_ttt_A1_singleThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 9,
"total_frames": 4572,
"total_tasks": 1,
"total_videos": 18,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:9"
},
"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/kyomangold/so100_ttt_A1_single.interndata-a1-close-the-laptop-369epThis is a FiftyOne dataset with 369 samples.
Installation
If you haven't already, install FiftyOne:
pip install -U fiftyone
Usage
import fiftyone as fo
from fiftyone.utils.huggingface import load_from_hub
# Load the dataset
# Note: other available arguments include 'max_samples', etc
dataset = load_from_hub("Voxel51/interndata-a1-close-the-laptop-369ep")
# Launch the App
session = fo.launch_app(dataset)
Dataset Card for InternData-A1… See the full description on the dataset page: https://huggingface.co/datasets/Voxel51/interndata-a1-close-the-laptop-369ep.ffw_sg2_rev1_Test_A1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ffw_sg2_rev1",
"total_episodes": 2,
"total_frames": 1038,
"total_tasks": 1,
"total_videos": 6,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"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/HSJUSER/ffw_sg2_rev1_Test_A1.so100_ball_A1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100MovellaDot",
"total_episodes": 2,
"total_frames": 1231,
"total_tasks": 1,
"total_videos": 4,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"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/ilBiondo06/so100_ball_A1.yumi_cube_single_processedso100_movella_stack_ball_A1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100MovellaDot",
"total_episodes": 2,
"total_frames": 796,
"total_tasks": 1,
"total_videos": 4,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:2"
},
"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/sergiov2000/so100_movella_stack_ball_A1.