datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
apple-app-store-labels-policiesGSM-Symbolic
GSM-Symbolic
This project accompanies the research paper, GSM-Symbolic: Understanding the Limitations of Mathematical Reasoning in Large Language Models.
Getting Started
In our first release, we provide data for GSM-Symbolic, GSM-Symbolic-P1, and GSM-Symbolic-P2 variants. For each variant, we have released both templates (available on Github), and a sample of generated data that can be used for evaluation.
To load the data, you can use the following code. Note that in… See the full description on the dataset page: https://huggingface.co/datasets/apple/GSM-Symbolic.telemanom
NASA SMAP and MSL Spacecraft Anomaly Detection Dataset
Dataset Description
This dataset contains real spacecraft telemetry data and labeled anomalies from two NASA missions:
SMAP (Soil Moisture Active Passive satellite)
MSL (Mars Science Laboratory / Curiosity Rover)
The data was originally used in the 2018 KDD paper Detecting Spacecraft Anomalies Using LSTMs and Nonparametric Dynamic Thresholding and released via the telemanom repository.
Dataset Structure… See the full description on the dataset page: https://huggingface.co/datasets/appleparan/telemanom.GR00T-N1.7-AppleToPlate
Dataset Description:
The GR00T-N1.7-AppleToPlate dataset is a multimodal collection of trajectories collected on a Unitree G1 humanoid robot. It supports a humanoid (G1) static loco-manipulation task in which the robot picks up an apple and places it on a plate. Each entry provides the full context (state, vision, language, action) needed to train and evaluate generalist robot policies for an apple pick-and-place task.
Dataset Name
# Trajectories
G1 Static… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/GR00T-N1.7-AppleToPlate.G1edu-u3_basket_storage_apple_b
G1edu-u3_basket_storage_apple_b
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: Unitree_G1_Dex3_phecda
| Codebase Version: v2.1
End-Effector Type: three_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
pick
place
📊 Dataset Statistics
Metric
Value
Total… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/G1edu-u3_basket_storage_apple_b.G1edu-u3_basket_storage_apple
G1edu-u3_basket_storage_apple
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: unitree_g1
| Codebase Version: v2.1
End-Effector Type: three_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
kitchen
🤖 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/G1edu-u3_basket_storage_apple.piper-apple-picking-1m-joints
Piper Apple Picking (Isaac Sim) — 1M frames — joint-space state
LeRobot v3 dataset: an AgileX Piper 6-DOF arm harvesting apples into a bucket,
collected in Isaac Lab / Isaac Sim with a cuRobo motion planner.
This is the joint-space variant of
Faless/piper-apple-picking-1m:
identical episodes/videos, but observation.state is reduced to 8 dims (no
end-effector pose) for policies that act purely in joint space.
Episodes: 1,056
Frames: 1,024,754
FPS: 30
Robot: piper_full
Cameras:… See the full description on the dataset page: https://huggingface.co/datasets/Faless/piper-apple-picking-1m-joints.Cobot_Magic_plate_storage_apple
Cobot_Magic_plate_storage_apple
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: agilex_cobot_decoupled_magic
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 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… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/Cobot_Magic_plate_storage_apple.g1-apple2plate-lerobot-v21
g1-apple2plate-lerobot-v21
Teleoperated pick-and-place demonstrations on a Unitree G1 humanoid: pick up an apple (red or green) and place it on a plate. The dataset also includes correction / redirect episodes in which the arm begins reaching toward the wrong apple and then redirects to the correct one — useful for training recovery behaviour and for closed-loop intent-correction research.
Recorded for fine-tuning NVIDIA GR00T N1.7. Stored in LeRobot v2.1 format (the version… See the full description on the dataset page: https://huggingface.co/datasets/tysyuvraj/g1-apple2plate-lerobot-v21.Apple-10K-2022R1_Lite_move_the_position_of_the_apple
R1_Lite_move_the_position_of_the_apple
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: galaxea_r1_lite
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
place
pick
grasp
📊 Dataset Statistics
Metric
Value… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/R1_Lite_move_the_position_of_the_apple.apple_storageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "reachy2",
"total_episodes": 50,
"total_frames": 14983,
"total_tasks": 1,
"total_videos": 50,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:50"
},
"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/pollen-robotics/apple_storage.g1-apple2plate-mixed-v3
g1-apple2plate-mixed-v3
A multi-task teleoperation dataset on a Unitree G1 humanoid covering apple↔plate/table
manipulation, target corrections, and task cancellation. Recorded for fine-tuning
NVIDIA GR00T N1.7. Stored in LeRobot v2.1 format (what GR00T's loader consumes).
Robot
Embodiment: Unitree_G1_Dex1_UpperBody_2Cam (Dex1 parallel grippers)
State / action: 16-D — left arm 0:7, right arm 7:14, left gripper 14:15, right gripper 15:16
Cameras: cam_head… See the full description on the dataset page: https://huggingface.co/datasets/tysyuvraj/g1-apple2plate-mixed-v3.apple_storage_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "reachy2",
"total_episodes": 54,
"total_frames": 12906,
"total_tasks": 1,
"total_videos": 54,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:54"
},
"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/pollen-robotics/apple_storage_2.G1edu-u3_place_apple_c
G1edu-u3_place_apple_c
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: G1edu-u3
| Codebase Version: v2.1
End-Effector Type: three_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
pick
place
📊 Dataset Statistics
Metric
Value
Total Episodes
29
Total Frames… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/G1edu-u3_place_apple_c.G1edu-u3_pick_apple_a
G1edu-u3_pick_apple_a
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: G1edu-u3
| Codebase Version: v2.1
End-Effector Type: three_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
40
Total… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/G1edu-u3_pick_apple_a.G1edu-u3_pick_apple_b
G1edu-u3_pick_apple_b
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: G1edu-u3
| Codebase Version: v2.1
End-Effector Type: three_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
📊 Dataset Statistics
Metric
Value
Total Episodes
26
Total Frames… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/G1edu-u3_pick_apple_b.apple-pick-placepiper-apple-picking-1m
Piper Apple Picking (Isaac Sim) — 1M frames, with apple bounding boxes
LeRobot v3 dataset: an AgileX Piper 6-DOF arm harvesting apples into a bucket,
collected in Isaac Lab / Isaac Sim with a cuRobo motion planner.
Episodes: 1,056
Frames: 1,024,754
FPS: 30
Robot: piper_full
Cameras: observation.images.ego (wrist), observation.images.front — 640×360, AV1
Apple count per episode: 1–5 (rebalanced toward 4–5). Every episode places all apples in the bucket.
Cleaned release: 99… See the full description on the dataset page: https://huggingface.co/datasets/Faless/piper-apple-picking-1m.hat
HAT: Hallucination Annotation for Translation
🧭 Table of Contents
Overview
Usage
Data Creation Process
Data Statistics
Dataset Structure
Paper Abstract
Citation
License
📘 Overview
HAT (Hallucination Annotation for Translation) is a large-scale dataset for hallucination detection in machine translation (MT).It is released as part of our publication at ACL 2026 (paper).
350,959 span-level annotated samples
38 language pairs
~8,000-10,000… See the full description on the dataset page: https://huggingface.co/datasets/apple/hat.put_banana_apple_in_pink_blue_platesThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 15,
"features": {
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"left_shoulder_pan_joint.pos",
"left_shoulder_lift_joint.pos",
"left_elbow_joint.pos",
"left_wrist_1_joint.pos"… See the full description on the dataset page: https://huggingface.co/datasets/khoviadin/put_banana_apple_in_pink_blue_plates.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.harvest_apples_with_agilex_piper_sim_ee_rot6dThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "piper_full",
"total_episodes": 600,
"total_frames": 1020000,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 25,
"splits": {
"train": "0:600"
},
"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/Faless/harvest_apples_with_agilex_piper_sim_ee_rot6d.narit-ghosts-halo-catalogs
NARIT GHOSTS Halo Catalogs
Dataset Description
This dataset contains reduced stellar catalogs, combined FITS images, and candidate substructure catalogs from the GHOSTS (Galaxy Halos, Outer disks, Substructure, Thick disks, and Star clusters) Survey observed by the Hubble Space Telescope (HST).
It serves as the primary data lake for the automated astronomical pipeline designed to detect faint stellar substructures (like Ultra-Faint Dwarfs and stellar streams) in… See the full description on the dataset page: https://huggingface.co/datasets/appleboiy/narit-ghosts-halo-catalogs.G1edu-u3_little_tray_storage_apple_b
G1edu-u3_little_tray_storage_apple_b
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: G1edu-u3
| Codebase Version: v2.1
End-Effector Type: three_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
pick
place
📊 Dataset Statistics
Metric
Value
Total Episodes
15… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/G1edu-u3_little_tray_storage_apple_b.harvest_apples_with_agilex_piper_sim_ee
Harvest Apples with AgileX Piper Sim - End-Effector Pose
LeRobot v3 dataset converted from
Faless/harvest_apples_with_agilex_piper_sim.
Episodes: 600
Frames: 1,020,000
FPS: 25
Cameras: observation.images.ego, observation.images.front
action: [ee.x, ee.y, ee.z, ee.roll, ee.pitch, ee.yaw, gripper.pos]
observation.state: [ee.x, ee.y, ee.z, ee.roll, ee.pitch, ee.yaw, gripper.pos, gripper.tau]
The end-effector position is in meters and orientation is Euler RPY in radians.
Videos are… See the full description on the dataset page: https://huggingface.co/datasets/Faless/harvest_apples_with_agilex_piper_sim_ee.harvest_apples_with_agilex_piper_sim_ee_paraphrases20This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 25,
"features": {
"observation.state": {
"dtype": "float32",
"fps": 25,
"shape": [
8
],
"names": [
"ee.x",
"ee.y",
"ee.z",
"ee.roll",
"ee.pitch",
"ee.yaw"… See the full description on the dataset page: https://huggingface.co/datasets/Faless/harvest_apples_with_agilex_piper_sim_ee_paraphrases20.harvest_apples_piper_sim_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "piper_full",
"total_episodes": 633,
"total_frames": 1216761,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:633"
},
"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/Faless/harvest_apples_piper_sim_v2.psi0-apple-to-plate-teleop
Psi0 Apple-to-Plate VR Teleoperation Dataset
Human-demonstrated loco-manipulation trajectories for fine-tuning the Psi0 Vision-Language-Action (VLA) model on a Unitree G1 humanoid robot in Isaac Lab simulation.
Dataset Summary
Property
Value
Robot
Unitree G1 29-DOF (dexterous hands + wholebody locomotion)
Task
Pick up the apple, walk left and place the apple on the plate
Episodes
79 (filtered from 81; removed ep49=22 frames < chunk_size, ep80=metadata… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/psi0-apple-to-plate-teleop.