datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
gello_dataThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": null,
"total_episodes": 30,
"total_frames": 2917,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:30"
},
"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/ipa-intelligent-mobile-manipulators/gello_data.UR5e_Gello_Cube_binThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5e_gello",
"total_episodes": 1,
"total_frames": 453,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1"
},
"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/Arururu12/UR5e_Gello_Cube_bin.UR5e_Gello_Cube_bin_v3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5e_gello",
"total_episodes": 3,
"total_frames": 1635,
"total_tasks": 1,
"total_videos": 6,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:3"
},
"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/Arururu12/UR5e_Gello_Cube_bin_v3.gello_hand_simThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": null,
"total_episodes": 50,
"total_frames": 8109,
"total_tasks": 1,
"total_videos": 150,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"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/ipa-intelligent-mobile-manipulators/gello_hand_sim.UR5e_Gello_Cube_bin_v5This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5e_gello",
"total_episodes": 20,
"total_frames": 7967,
"total_tasks": 1,
"total_videos": 40,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"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/Arururu12/UR5e_Gello_Cube_bin_v5.gello_hil_open
gello_hil_open
Open the thermal cycler.
Split from aliy98/gello_hil_full_merged without modifying the original dataset.
Episodes: 120
Frames: 49714
Tasks:
'open the thermal cycler'
gello_data_sim_camThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": null,
"total_episodes": 50,
"total_frames": 7767,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"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/ipa-intelligent-mobile-manipulators/gello_data_sim_cam.gello_hil_close
gello_hil_close
Close the thermal cycler.
Split from aliy98/gello_hil_full_merged without modifying the original dataset.
Episodes: 120
Frames: 38497
Tasks:
'close the thermal cycler'
gello_hil_mantis
gello_hil_mantis
Pick up the plate and place it on mantis.
Split from aliy98/gello_hil_full_merged without modifying the original dataset.
Episodes: 120
Frames: 81357
Tasks:
'pick up the plate and place it on mantis'
HS_gello_260813-action_is_ur5state_cam1_remapgello_hil_tube
gello_hil_tube
Centrifuge tube rack-transfer episodes.
Split from aliy98/gello_hil_full_merged without modifying the original dataset.
Episodes: 132
Frames: 58562
Tasks:
'pick up the centrifuge tube and move it to the other rack, far right position'
'pick up the centrifuge tube and move it to the other rack, far left position'
'pick up the centrifuge tube and move it to the other rack, middle left position'
'pick up the centrifuge tube and move it to the other rack, middle… See the full description on the dataset page: https://huggingface.co/datasets/aliy98/gello_hil_tube.UR5e_Gello_Clean_up_the_cupsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5e_gello",
"total_episodes": 9,
"total_frames": 3653,
"total_tasks": 1,
"total_videos": 18,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"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/Arururu12/UR5e_Gello_Clean_up_the_cups.gello_datasets_abs_joint_abs_joint_30hzThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ur5",
"total_episodes": 400,
"total_frames": 173026,
"total_tasks": 7,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:400"
},
"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/aliy98/gello_datasets_abs_joint_abs_joint_30hz.gello_data_simThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": null,
"total_episodes": 30,
"total_frames": 4164,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:30"
},
"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/ipa-intelligent-mobile-manipulators/gello_data_sim.eval_diffusion_UR5e_Gello_Cube_bin_v5_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5e_gello",
"total_episodes": 10,
"total_frames": 7872,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"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/Arururu12/eval_diffusion_UR5e_Gello_Cube_bin_v5_v2.eval_pi0_UR5e_Gello_Cube_bin_v5_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5e_gello",
"total_episodes": 10,
"total_frames": 9778,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"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/Arururu12/eval_pi0_UR5e_Gello_Cube_bin_v5_v2.eval_act_UR5e_Gello_Cube_bin_v5_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5e_gello",
"total_episodes": 10,
"total_frames": 9018,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"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/Arururu12/eval_act_UR5e_Gello_Cube_bin_v5_v2.gello_dual_demoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "yam_follower_dual",
"total_episodes": 103,
"total_frames": 82482,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:103"
},
"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/robots123/gello_dual_demo.gello_lerobot_v21_zed_10hz_val
Gello Dataset - LeRobot v2.1 Format (10Hz)
This dataset contains robotic manipulation demonstrations converted to the LeRobot v2.1 data format, matching the structure of the berkeley_autolab_ur5 dataset. This version captures data at 10Hz for efficient storage and processing.
Dataset Overview
Task: Pick up the hard drives out of the grey bin and put them on the wooden board.
Total Episodes: 50
Total Frames: 6,586
Total Videos: 100 (2 video types per episode)… See the full description on the dataset page: https://huggingface.co/datasets/zifuwan/gello_lerobot_v21_zed_10hz_val.gello_data_testThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": null,
"total_episodes": 15,
"total_frames": 1293,
"total_tasks": 1,
"total_videos": 30,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:15"
},
"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/ipa-intelligent-mobile-manipulators/gello_data_test.eval_pi0_UR5e_Gello_Cube_bin_v5This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5e_gello",
"total_episodes": 9,
"total_frames": 9709,
"total_tasks": 1,
"total_videos": 18,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"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/Arururu12/eval_pi0_UR5e_Gello_Cube_bin_v5.UR5e_Gello_Cube_bin_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5e_gello",
"total_episodes": 11,
"total_frames": 5295,
"total_tasks": 1,
"total_videos": 22,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:11"
},
"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/Arururu12/UR5e_Gello_Cube_bin_v2.fr3_gello_20260818_131934This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "fr3_gello",
"total_episodes": 20,
"total_frames": 11104,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 15,
"splits": {
"train": "0:20"
},
"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/jaeikkim/fr3_gello_20260818_131934.fr3_gello_20260817_145826This dataset was created using LeRobot.
Dataset Description
A real-world Franka Research 3 teleoperation demonstration collected with a GELLO leader. The LeRobot v3.0 episode contains measured FR3 joint actions and states, normalized gripper targets, measured gripper width, raw GELLO state, end-effector pose, synchronization metadata, and three RGB camera views (two side views and one gripper-mounted view).
Homepage:… See the full description on the dataset page: https://huggingface.co/datasets/jaeikkim/fr3_gello_20260817_145826.gello_hil_interventiongello_lerobot_v21_bottlerobomind_benchmark1_1_release_tienkung_gello_1rgb_left_hand_put_the_white_car_in_the_blue_box
benchmark1_1_release_tienkung_gello_1rgb_left_hand_put_the_white_car_in_the_blue_box
This dataset converts the Robomain format uniformly into LeRobot V3.0.
Dataset Statistics
本体: tienkung_gello_1rgb
末端执行器: 夹爪
任务平台显示版: 左手将白色汽车放入蓝色盒子
total_episodes: 69
total_tasks: 1
size: 331.7M
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── images
│ └── observation.images.camera_top
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └──… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/robomind_benchmark1_1_release_tienkung_gello_1rgb_left_hand_put_the_white_car_in_the_blue_box.HS_gello_init_pose_fix_pick_place_260904-action_is_ur5state-cam1-wgello_datasets_abs_joint_abs_joint_50hzThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ur5",
"total_episodes": 400,
"total_frames": 288509,
"total_tasks": 7,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:400"
},
"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/aliy98/gello_datasets_abs_joint_abs_joint_50hz.eval_diffusion_UR5e_Gello_Cube_bin_v5This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5e_gello",
"total_episodes": 4,
"total_frames": 1748,
"total_tasks": 1,
"total_videos": 8,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:4"
},
"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/Arururu12/eval_diffusion_UR5e_Gello_Cube_bin_v5.