datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
EmbodiedGenDatahttps://huggingface.co/spaces/HorizonRobotics/EmbodiedGen-Gallery-Explorer
Long-Horizon-Terminal-Bench
Long-Horizon Terminal-Bench (LHTB)
LHTB is a 46-task benchmark for measuring how well LLM agents sustain useful
work in a containerized terminal over hundreds of steps. Unlike short-horizon
coding benchmarks where an agent writes one artifact and stops, LHTB drops the agent
into a stateful environment and grades it with hidden, rebuild-from-artifact
verifiers — self-reported progress does not count.
📝 Blog: https://zli12321.github.io/LHTB/
🏆 Leaderboard:… See the full description on the dataset page: https://huggingface.co/datasets/IntelligenceLab/Long-Horizon-Terminal-Bench.omx_gelsight_env1_multitask_horizontal_vertical_line_nogelThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "omx_follower",
"total_episodes": 120,
"total_frames": 105619,
"total_tasks": 2,
"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/WoojongKim/omx_gelsight_env1_multitask_horizontal_vertical_line_nogel.eval_smolvla_policy_omx_gelsight_env1_multitask_horizontal_vertical_line_nogel_20260820_192704This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "omx_follower",
"total_episodes": 10,
"total_frames": 7847,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:10"
},
"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/WoojongKim/eval_smolvla_policy_omx_gelsight_env1_multitask_horizontal_vertical_line_nogel_20260820_192704.grab-the-black-box-horizontalThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 100,
"total_frames": 32355,
"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/Tank-123/grab-the-black-box-horizontal.R-HORIZON-AMC23
R-HORIZON
How Far Can Your Large Reasoning Model Really Go in Breadth and Depth?
📃 Paper • 🌐 Project Page • 🤗 Dataset
R-HORIZON is a novel method designed to stimulate long-horizon reasoning behaviors in Large Reasoning Models (LRMs) through query composition. We transform isolated problems into complex multi-step reasoning scenarios, revealing that even the most advanced LRMs suffer significant performance degradation when facing interdependent problems that span… See the full description on the dataset page: https://huggingface.co/datasets/meituan-longcat/R-HORIZON-AMC23.k2-horizon-tiny-cpu-repro-v1
K2-Horizon MoVA tiny random CPU fixture
Complete untrained K2HorizonForCausalLM, not Moonshot Kimi despite the K2 name.
Architecture source: IFM/K2-Horizon-MoVA-36B-A4B at 05cab0a4d7150c1c460a000b37ff40cc1af2feaa.
No pretrained weights, original tokenizer, training data, paid GPU or cloud compute used.
Complete text-only K2HorizonForCausalLM, not Kimi: three-layer dense prefix followed by two real MoVA+MoE layers, grouped RMSNorm, sigmoid top-k routing with selection-only bias… See the full description on the dataset page: https://huggingface.co/datasets/malaiwah/k2-horizon-tiny-cpu-repro-v1.eval_koch_test_horizontalThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 30,
"total_frames": 8955,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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/RobotisSW/eval_koch_test_horizontal.koch_test_horizontalThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 40,
"total_frames": 10556,
"total_tasks": 1,
"total_videos": 80,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:40"
},
"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/RobotisSW/koch_test_horizontal.med_wrap1m_horizontalHorizonMath
Citation
@article{wang2026horizonmathmeasuringaiprogress,
title={HorizonMath: Measuring AI Progress Toward Mathematical Discovery with Automatic Verification},
author={Erik Y. Wang and Sumeet Motwani and James V. Roggeveen and Eliot Hodges and Dulhan Jayalath and Charles London and Kalyan Ramakrishnan and Flaviu Cipcigan and Philip Torr and Alessandro Abate},
year={2026},
eprint={2603.15617},
archivePrefix={arXiv},
primaryClass={cs.LG}… See the full description on the dataset page: https://huggingface.co/datasets/squashenthus/HorizonMath.horizons-10Bk2-horizon-tiny-fidelity-root-v1
k2-horizon random CPU fixture root
A root fidelity dataset in hidden form, produced by engines/tools/hf_capture.py from malaiwah/k2-horizon-tiny-random-bf16.
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).… See the full description on the dataset page: https://huggingface.co/datasets/malaiwah/k2-horizon-tiny-fidelity-root-v1.photo-anatomy
Photo Anatomy Dataset
Pulled from Pexels in 2023.
Images contain a majority of images of "people holding things".
Image filenames may be used as captions, or, the parquet table contains the same values.
This dataset contains the full images.
Captions were created with CogVLM.
lemma-long-horizon-rewrite-benchmark
LEMMA Long-Horizon Symbolic Rewriting Benchmark
Rewrite one expression into another, one verified step at a time — for up to 128 steps.
Every problem gives you a start expression, an exact target, and a reference derivation in which
every single step was accepted by a symbolic verifier. The hard part is not any individual
rewrite. It is picking the right rewrite at each of up to 128 consecutive states, where a
plausible-looking legal move can quietly take you away from the… See the full description on the dataset page: https://huggingface.co/datasets/BlackdromeAILabs/lemma-long-horizon-rewrite-benchmark.long-horizon-eval
long-horizon-eval
Evaluation results for long-horizon agent performance
Dataset Description
This dataset contains evaluation results for agent trajectories, including quality assessments and performance metrics.
Dataset Structure
The dataset is organized by model name, with each model having separate JSONL files for different experimental passes.
long-horizon-eval/
├── model-1/
│ ├── pass@1.jsonl
│ ├── pass@2.jsonl
│ └── pass@3.jsonl
├── model-2/
│ └──… See the full description on the dataset page: https://huggingface.co/datasets/ToolGym/long-horizon-eval.so101_long_horizon_boxThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 30,
"total_frames": 38844,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:30"
},
"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/tinkhireeva/so101_long_horizon_box.so101_bimanual_towel_horizontalThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so_follower",
"total_episodes": 181,
"total_frames": 207844,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:181"
},
"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/Qiu-Xinchuan/so101_bimanual_towel_horizontal.R-HORIZON-Math500R-HORIZON-Math500
R-HORIZON
How Far Can Your Large Reasoning Model Really Go in Breadth and Depth?
📃 Paper • 🌐 Project Page • 🤗 Dataset
R-HORIZON is a novel method designed to stimulate long-horizon reasoning behaviors in Large Reasoning Models (LRMs) through query composition. We transform isolated problems into complex multi-step reasoning scenarios, revealing that even the most advanced LRMs suffer significant performance degradation when facing interdependent problems that span… See the full description on the dataset page: https://huggingface.co/datasets/meituan-longcat/R-HORIZON-Math500.horizontalThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Inspire",
"total_episodes": 10,
"total_frames": 17318,
"total_tasks": 1,
"total_videos": 10,
"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/eunjuri/horizontal.R-HORIZON-AIME24
R-HORIZON
How Far Can Your Large Reasoning Model Really Go in Breadth and Depth?
📃 Paper • 🌐 Project Page • 🤗 Dataset
R-HORIZON is a novel method designed to stimulate long-horizon reasoning behaviors in Large Reasoning Models (LRMs) through query composition. We transform isolated problems into complex multi-step reasoning scenarios, revealing that even the most advanced LRMs suffer significant performance degradation when facing interdependent problems that span… See the full description on the dataset page: https://huggingface.co/datasets/meituan-longcat/R-HORIZON-AIME24.so101_long_horizon_pnpThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 50,
"total_frames": 68027,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"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/tinkhireeva/so101_long_horizon_pnp.eval_smolvla_policy_omx_gelsight_env1_multitask_horizontal_vertical_line_1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "omx_follower",
"total_episodes": 10,
"total_frames": 9246,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:10"
},
"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/WoojongKim/eval_smolvla_policy_omx_gelsight_env1_multitask_horizontal_vertical_line_1.omx_gelsight_env1_horizontal_line_ghThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "omx_follower",
"total_episodes": 20,
"total_frames": 18224,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"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/WoojongKim/omx_gelsight_env1_horizontal_line_gh.direction_horizontalThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Inspire",
"total_episodes": 10,
"total_frames": 17318,
"total_tasks": 1,
"total_videos": 10,
"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/eunjuri/direction_horizontal.R-HORIZON-AIME25
R-HORIZON
How Far Can Your Large Reasoning Model Really Go in Breadth and Depth?
📃 Paper • 🌐 Project Page • 🤗 Dataset
R-HORIZON is a novel method designed to stimulate long-horizon reasoning behaviors in Large Reasoning Models (LRMs) through query composition. We transform isolated problems into complex multi-step reasoning scenarios, revealing that even the most advanced LRMs suffer significant performance degradation when facing interdependent problems that span… See the full description on the dataset page: https://huggingface.co/datasets/meituan-longcat/R-HORIZON-AIME25.Pick_Green_Horizontal_30
Pick_Green_Horizontal_30
This dataset was generated using phosphobot.
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.
To get started in robotics, get your own phospho starter pack..
lerobot_long_horizon_cupomx_gelsight_env1_horizontal_line_mergedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "omx_follower",
"total_episodes": 60,
"total_frames": 54469,
"total_tasks": 1,
"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/WoojongKim/omx_gelsight_env1_horizontal_line_merged.