datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
G1_Dex1_DiverseManip_DualArm_256x256This dataset was created using LeRobot.
Important Notes:
This is a G1 diversity dataset that can be used for video generation models, world models, and other applications [Lee et al., 2018].
If you want to use the lerobotv2.1 format, refer to this file for conversion: convert_v3_to_v2.py
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex1_DiverseManip_DualArm_256x256.G1_Dex1_DiverseManip_DualArm_128x128This dataset was created using LeRobot.
Important Notes:
This is a G1 diversity dataset that can be used for video generation models, world models, and other applications [Lee et al., 2018].
If you want to use the lerobotv2.1 format, refer to this file for conversion: convert_v3_to_v2.py
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex1_DiverseManip_DualArm_128x128.omy_f3m_multi_spacemouse_dual_arm_pin_insertionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "omy_f3m_multi_spacemouse",
"total_episodes": 52,
"total_frames": 35275,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:52"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/AivexRoboticsGroup/omy_f3m_multi_spacemouse_dual_arm_pin_insertion.SO101-DualArm-teleop_fold_towel_100epiThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so_follower",
"total_episodes": 100,
"total_frames": 65151,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:100"
},
"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/CoRL2026-CSI/SO101-DualArm-teleop_fold_towel_100epi.dual_arm_ur5e_ur3e_20260606_v12This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "dual_arm_ur5e_ur3e",
"total_episodes": 50,
"total_frames": 44281,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 0.0001,
"video_files_size_in_mb": 0.0001,
"fps": 8,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/shirasu206/dual_arm_ur5e_ur3e_20260606_v12.humanoid-packing-dual-armsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "x1",
"total_episodes": 13,
"total_frames": 18473,
"total_tasks": 1,
"total_videos": 13,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:13"
},
"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/lucasngoo/humanoid-packing-dual-arms.dual_arm_ur5e_ur3e_20260531_v4This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "dual_arm_ur5e_ur3e",
"total_episodes": 25,
"total_frames": 12748,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 0.0001,
"video_files_size_in_mb": 0.0001,
"fps": 15,
"splits": {
"train": "0:25"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/shirasu206/dual_arm_ur5e_ur3e_20260531_v4.dual_arm_ur5e_ur3e_20260530_v15This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "dual_arm_ur5e_ur3e",
"total_episodes": 21,
"total_frames": 11651,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 0.0001,
"video_files_size_in_mb": 0.0001,
"fps": 15,
"splits": {
"train": "0:21"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/shirasu206/dual_arm_ur5e_ur3e_20260530_v15.dual_arm_ur5e_ur3e_20260530_v14This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "dual_arm_ur5e_ur3e",
"total_episodes": 32,
"total_frames": 21312,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 0.0001,
"video_files_size_in_mb": 0.0001,
"fps": 15,
"splits": {
"train": "0:32"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/shirasu206/dual_arm_ur5e_ur3e_20260530_v14.dual_arm_ur5e_ur3e_20260529_v31This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "dual_arm_ur5e_ur3e",
"total_episodes": 50,
"total_frames": 8109,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 0.0001,
"video_files_size_in_mb": 0.0001,
"fps": 5,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/shirasu206/dual_arm_ur5e_ur3e_20260529_v31.dual_arm_ur5e_ur3e_20260530_v13This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "dual_arm_ur5e_ur3e",
"total_episodes": 50,
"total_frames": 27623,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 0.0001,
"video_files_size_in_mb": 0.0001,
"fps": 15,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/shirasu206/dual_arm_ur5e_ur3e_20260530_v13.WipeTable_DualArxR5a_TeleXperienceThis dataset was created using LeRobot.
Dataset Description
73 real-robot teleoperation episodes for “Wipe the table.” on a DualArxR5a dual-arm robot. Format: LeRobot v3.0 (30 Hz parquet + H.264 videos).
Collected with TeleXperience, IO-AI’s product for real-robot teleoperation and data collection.
Task / language prompt: Wipe the table.
Robot: DualArxR5a (bimanual, parallel-jaw grippers)
Frames: 629523 at 30 Hz
Cameras: camera_high (overhead), camera_low (lower scene)… See the full description on the dataset page: https://huggingface.co/datasets/io-intelligence/WipeTable_DualArxR5a_TeleXperience.dual_arm_ur5e_ur3e_20260530_v7This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "dual_arm_ur5e_ur3e",
"total_episodes": 22,
"total_frames": 12745,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 0.0001,
"video_files_size_in_mb": 0.0001,
"fps": 15,
"splits": {
"train": "0:22"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/shirasu206/dual_arm_ur5e_ur3e_20260530_v7.golf-dual-arm-turntableThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 8,
"features": {
"action": {
"dtype": "float32",
"shape": [
17
],
"names": [
"arm_right_joint_1",
"arm_right_joint_2",
"arm_right_joint_3",
"arm_right_joint_4",
"arm_right_joint_5"… See the full description on the dataset page: https://huggingface.co/datasets/puppet-robotics/golf-dual-arm-turntable.dual-arm-operation-video-v1
Dual-Arm Operation First-Person Video Preview
This preview contains four first-person operation videos from the Thordata Dual-Arm Operation VR Video Collection:
handling a remote-control battery
handling a food tray in a kitchen
inspecting and handling a packaged product in a supermarket
turning on a desk lamp
The product listing describes PICO 4 Ultra Enterprise capture at 1920x1080. The uploaded marketplace preview copies are lower-resolution encodes; the actual file… See the full description on the dataset page: https://huggingface.co/datasets/thordata/dual-arm-operation-video-v1.dual_arm_ur5e_ur3e_20260531_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "dual_arm_ur5e_ur3e",
"total_episodes": 25,
"total_frames": 13058,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 0.0001,
"video_files_size_in_mb": 0.0001,
"fps": 15,
"splits": {
"train": "0:25"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/shirasu206/dual_arm_ur5e_ur3e_20260531_v2.dual_arm_ur5e_ur3e_20260529_v33This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "dual_arm_ur5e_ur3e",
"total_episodes": 30,
"total_frames": 18662,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 0.0001,
"video_files_size_in_mb": 0.0001,
"fps": 15,
"splits": {
"train": "0:30"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/shirasu206/dual_arm_ur5e_ur3e_20260529_v33.dual_arm_ur5e_ur3e_20260530_v16This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "dual_arm_ur5e_ur3e",
"total_episodes": 10,
"total_frames": 6334,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 0.0001,
"video_files_size_in_mb": 0.0001,
"fps": 15,
"splits": {
"train": "0:10"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/shirasu206/dual_arm_ur5e_ur3e_20260530_v16.dual_arm_transfer_2025_02_16This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 12,
"total_frames": 17428,
"total_tasks": 1,
"total_videos": 36,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:12"
},
"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/andreasBihlmaier/dual_arm_transfer_2025_02_16.G1_Dex1_DiverseManip_DualArm_256x256This dataset was created using LeRobot.
Important Notes:
This is a G1 diversity dataset that can be used for video generation models, world models, and other applications [Lee et al., 2018].
If you want to use the lerobotv2.1 format, refer to this file for conversion: convert_v3_to_v2.py
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in… See the full description on the dataset page: https://huggingface.co/datasets/mothworm/G1_Dex1_DiverseManip_DualArm_256x256.dual-arm-robot-dataset
Dual-Arm Robot Dataset
A LeRobot-compatible dataset containing joint position data from a dual-arm robotic system with 34 degrees of freedom.
Dataset Description
This dataset contains robot manipulation data recorded from a dual-arm robotic system. The data includes joint positions for both arms and their associated grippers, captured at 100Hz for precise motion analysis and learning.
Dataset Summary
Total Episodes: 1
Total Frames: 3,105
Duration: 31.05… See the full description on the dataset page: https://huggingface.co/datasets/Sraghvi/dual-arm-robot-dataset.G1_Dex1_DiverseManip_DualArm_128x128This dataset was created using LeRobot.
Important Notes:
This is a G1 diversity dataset that can be used for video generation models, world models, and other applications [Lee et al., 2018].
If you want to use the lerobotv2.1 format, refer to this file for conversion: convert_v3_to_v2.py
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in… See the full description on the dataset page: https://huggingface.co/datasets/Jasonokdaf/G1_Dex1_DiverseManip_DualArm_128x128.dual_arm_ur5e_ur3e_20260606_v10This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "dual_arm_ur5e_ur3e",
"total_episodes": 50,
"total_frames": 26621,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 0.0001,
"video_files_size_in_mb": 0.0001,
"fps": 8,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/shirasu206/dual_arm_ur5e_ur3e_20260606_v10.franka_dual_arrange_vegetablesdual_arm_ur5e_ur3e_20260530_v8This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "dual_arm_ur5e_ur3e",
"total_episodes": 12,
"total_frames": 7301,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 0.0001,
"video_files_size_in_mb": 0.0001,
"fps": 15,
"splits": {
"train": "0:12"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/shirasu206/dual_arm_ur5e_ur3e_20260530_v8.SO101-DualArm-teleop_fold_towel_100epi_10fps_action_alignedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so_follower",
"total_episodes": 100,
"total_frames": 21649,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:100"
},
"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/Cache-SCA/SO101-DualArm-teleop_fold_towel_100epi_10fps_action_aligned.so101_dual_arm_test1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_dual_follower",
"total_episodes": 5,
"total_frames": 3168,
"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/SSatoya/so101_dual_arm_test1.pick_blueball_dualarmThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 40,
"total_frames": 40057,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"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/kinghanse/pick_blueball_dualarm.sweep2E_dualarm_v3SO101-DualArm-teleop_fold_towel_100epi_10fps
SO101 DualArm Teleop Fold Towel 100epi 10fps
LeRobot v3.0 derivative of CoRL2026-CSI/SO101-DualArm-teleop_fold_towel_100epi.
Robot: bi_so_follower
Task instruction: Fold the towel in half.
Episodes: 100
Frames: 21,749
FPS: 10
Cameras: observation.images.left_wrist, observation.images.left_top, observation.images.right_wrist
Action keys: action
Derivation
This dataset downsamples the source dataset from 30 fps to 10 fps by keeping every 3rd source frame.
Source… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/SO101-DualArm-teleop_fold_towel_100epi_10fps.