datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
icl-dataset-end-effector-space
icl-dataset-fixed-obs
Derived from adityx23/icl-dataset
(lerobot v2.1 format). Every existing column, task, episode flag
(success/valid/keep), and episode_uid is carried through unchanged.
What's added
Two new features, observation.left_ee / observation.right_ee (float32,
shape [7], names qw, qx, qy, qz, x, y, z): the Cartesian end-effector
pose of each arm, forward-kinematics'd from that frame's recorded
observation.state (real joint encoders) through the same… See the full description on the dataset page: https://huggingface.co/datasets/Hannibal52Barca/icl-dataset-end-effector-space.demo-end-effector-space
demo_action_space
Derived from adityx23/icl-demo-dataset
(lerobot v2.1 format, 285 episodes / 254,171 frames / 27 tasks). Every
existing column, task, episode flag (success/valid/keep), and
episode_uid is carried through unchanged.
Sibling dataset: demo_joint_space
adds the same episodes' joint-space IK targets instead of Cartesian poses.
Same source, same episode indices, same pipeline.
What's added
Two new features, observation.left_ee / observation.right_ee… See the full description on the dataset page: https://huggingface.co/datasets/Hannibal52Barca/demo-end-effector-space.rollout_vla0_500eps_endeffectorThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 120,
"total_frames": 169033,
"total_tasks": 12,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:120"
},
"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/mattpidden/rollout_vla0_500eps_endeffector.rollout_molmoact2_500eps_endeffector_eval_20260902_120317This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/mattpidden/rollout_molmoact2_500eps_endeffector_eval_20260902_120317.rollout_molmoact2_500eps_endeffector_incorrect_task_eval_20260904_104057This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/mattpidden/rollout_molmoact2_500eps_endeffector_incorrect_task_eval_20260904_104057.rollout_molmoact2_500eps_endeffector_hand_trace_eval_20260904_143115This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/mattpidden/rollout_molmoact2_500eps_endeffector_hand_trace_eval_20260904_143115.rollouts-molmoact2-500ep-eetcThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/end-effector-trace-conditioning/rollouts-molmoact2-500ep-eetc.rollouts-molmoact2-500ep-eetc-wrong-taskThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/end-effector-trace-conditioning/rollouts-molmoact2-500ep-eetc-wrong-task.rollouts-vla0-500ep-naive-ghost-traceThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 60,
"total_frames": 100182,
"total_tasks": 12,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:60"
},
"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/end-effector-trace-conditioning/rollouts-vla0-500ep-naive-ghost-trace.rollouts-molmoact2-500ep-baselineThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/end-effector-trace-conditioning/rollouts-molmoact2-500ep-baseline.rollouts-molmoact2-500ep-eetc-hand-traceThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/end-effector-trace-conditioning/rollouts-molmoact2-500ep-eetc-hand-trace.rollouts-vla0-500ep-baselineThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 120,
"total_frames": 177406,
"total_tasks": 12,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:120"
},
"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/end-effector-trace-conditioning/rollouts-vla0-500ep-baseline.rollouts-vla0-500ep-naive-5frameThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 60,
"total_frames": 102010,
"total_tasks": 12,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:60"
},
"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/end-effector-trace-conditioning/rollouts-vla0-500ep-naive-5frame.vla0-reproduction-datasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/end-effector-trace-conditioning/vla0-reproduction-dataset.franka_WAMs_end_effectorThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.images.image": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height":… See the full description on the dataset page: https://huggingface.co/datasets/Grigorij/franka_WAMs_end_effector.franka_WAMs_end_effector_fixedThis dataset was created using LeRobot.
Dataset Description
Repaired copy of Grigorij/franka_WAMs_end_effector.
The original is left untouched.
What was wrong. The recording loop initialised the previous commanded quaternion
before the task had set its commanded orientation. As a result the first frame of
every episode carried a bogus rotation delta: action[3:6] encoded the absolute
approach orientation instead of a near-zero delta. Exactly 40 frames (one per episode,
all… See the full description on the dataset page: https://huggingface.co/datasets/Grigorij/franka_WAMs_end_effector_fixed.so-101_end_effectorThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 50,
"total_frames": 35838,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:50"
},
"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/TechieMoon/so-101_end_effector.