datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
xarm_lift_mediumThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 800,
"total_frames": 20000,
"total_tasks": 1,
"total_videos": 800,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:800"
},
"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/lerobot/xarm_lift_medium.xarm_lift_medium_replayThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 800,
"total_frames": 20000,
"total_tasks": 1,
"total_videos": 800,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:800"
},
"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/lerobot/xarm_lift_medium_replay.liftplace-ee-xyz-500-v2This dataset was created using LeRobot.
Dataset Description
Language-conditioned smooth point-to-point Panda end-effector trajectories in
robosuite LiftPlace. Episodes are continuous within each collection_segment_index: the cube and
green placement goal change between episodes without changing the robot state. If planning or
execution becomes unsafe, the incomplete episode is deleted and the Panda is reset to home before
the next segment begins. Each fixed-orientation straight… See the full description on the dataset page: https://huggingface.co/datasets/dreamer-robot/liftplace-ee-xyz-500-v2.aloha_lift_boxThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 50,
"total_frames": 11572,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 20,
"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/jellyho/aloha_lift_box.franka_cube_lift_v5_for_actdexmg-two-arm-lift-trayThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "robomimic",
"total_episodes": 1033,
"total_frames": 516848,
"total_tasks": 1,
"total_videos": 3099,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:1033"
},
"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/ankile/dexmg-two-arm-lift-tray.redstack-lift0This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 21,
"total_frames": 2543,
"total_tasks": 1,
"total_videos": 21,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:21"
},
"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/oskarflordal/redstack-lift0.franka_cube_lift_v5_for_rrleval_record_0704_lift_dinosaurThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_openarm_follower",
"total_episodes": 50,
"total_frames": 16126,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"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/Tamanenishiki/eval_record_0704_lift_dinosaur.fr3_liftThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 15,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"j0",
"j1",
"j2",
"j3",
"j4",
"j5",
"j6",
"gripper"
]… See the full description on the dataset page: https://huggingface.co/datasets/xerous/fr3_lift.franka_cube_lift_v4robomimic-mh-lift-imageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "robomimic",
"total_episodes": 300,
"total_frames": 31127,
"total_tasks": 1,
"total_videos": 600,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:300"
},
"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/ankile/robomimic-mh-lift-image.156-pioneers-franka-pick-liftso101_lift_figureThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 50,
"total_frames": 16916,
"total_tasks": 1,
"total_videos": 100,
"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/kristaqp/so101_lift_figure.franka-lift-v2-200This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "isaac_sim",
"total_episodes": 200,
"total_frames": 10288,
"total_tasks": 1,
"total_videos": 400,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:180",
"test": "180:200"
},
"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/ankile/franka-lift-v2-200.robomimic-ph-lift-imageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "robomimic",
"total_episodes": 200,
"total_frames": 9666,
"total_tasks": 1,
"total_videos": 400,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:200"
},
"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/ankile/robomimic-ph-lift-image.behavioral-lift
Behavioral Lift Annotations
Dataset for Amplified Does Not Mean Predictive: Reasoning Behaviors in Thinking Models
Thinking models amplify visible deliberation, but not the behaviors most associated with correct answers.
This dataset contains 15,282 behavioral annotations of LLM and VLM reasoning traces across 15 models and 6 benchmarks. Each row contains one model response, benchmark metadata, correctness, and a JSON-encoded behavioral annotation covering reasoning behaviors… See the full description on the dataset page: https://huggingface.co/datasets/neulab/behavioral-lift.franka_cube_liftso101_pick_lift_cubeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 2,
"total_frames": 1771,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"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/gtgando/so101_pick_lift_cube.franka_cube_lift_v3_quaternions_xyzwlift_franka_allegroThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 50,
"total_frames": 3723,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 20,
"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/dexsuite/lift_franka_allegro.052026_lift500_10x10_5tLIFT-SFT-12Klift_franka_franka_umi_tacticleThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 50,
"total_frames": 3515,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"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/dexsuite/lift_franka_franka_umi_tacticle.franka-lift-500-stateThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "isaac_sim",
"total_episodes": 5,
"total_frames": 198,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:4",
"test": "4:5"
},
"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/ankile/franka-lift-500-state.franka-lift-500-v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "isaac_sim",
"total_episodes": 10,
"total_frames": 412,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:9",
"test": "9:10"
},
"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/ankile/franka-lift-500-v2.franka_cube_lift_v5_for_act_quat_xyzwpiper-pick-lift-right-20260624This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "agilex_piper_bimanual",
"total_episodes": 44,
"total_frames": 4820,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:44"
},
"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/PranayTest/piper-pick-lift-right-20260624.piper-pick-lift-right-earlystart-20260624This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "agilex_piper_bimanual",
"total_episodes": 44,
"total_frames": 8259,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:44"
},
"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/PranayTest/piper-pick-lift-right-earlystart-20260624.franka_cube_lift_v3