datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
maniskill3-sft-rgb-lerobot-1200epThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "maniskill3_sim",
"total_episodes": 1200,
"total_frames": 171480,
"total_tasks": 6,
"total_videos": 0,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:1200"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features":… See the full description on the dataset page: https://huggingface.co/datasets/onnoboru/maniskill3-sft-rgb-lerobot-1200ep.maniskill_50ep_so101_blue_cube_orange_tray_20260812_131142This 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/makermods/maniskill_50ep_so101_blue_cube_orange_tray_20260812_131142.maniskill_50ep_so101_blue_cube_orange_tray_20260811_114951This 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/makermods/maniskill_50ep_so101_blue_cube_orange_tray_20260811_114951.ManiSkill_TwoRobotStackCube-v1_recovery
TwoRobotStackCube-v1 Dataset
This dataset was converted from ManiSkill format to LeRobot format. It is part of the paper CroSTAta: Cross-State Transition Attention Transformer for Robotic Manipulation.
Code: GitHub Repository
Authors: Giovanni Minelli, Giulio Turrisi, Victor Barasuol, Claudio Semini
Dataset Information
Environment: TwoRobotStackCube-v1
Total Episodes: 1043
Total Frames: 25763
FPS: 20
Video Keys: ['observation.image']
Target Control Mode: Original… See the full description on the dataset page: https://huggingface.co/datasets/johnMinelli/ManiSkill_TwoRobotStackCube-v1_recovery.maniskill-panda-pickcube
ManiSkill Panda PickCube Dataset
This dataset contains robot demonstrations for pick-and-place tasks using a Franka Panda robot in the ManiSkill simulation environment.
Dataset Description
This dataset was collected using ManiSkill PickCube-v1 environment and converted to LeRobot format for training Vision-Language-Action (VLA) models, specifically optimized for pi0 architecture.
Task Description
The robot needs to pick up a cube and place it in a… See the full description on the dataset page: https://huggingface.co/datasets/dancher00/maniskill-panda-pickcube.ManiSkill_PlugCharger-v1_mp
PlugCharger-v1 Dataset
This dataset was converted from ManiSkill format to LeRobot format.
Dataset Information
Environment: PlugCharger-v1
Total Episodes: 1000
Total Frames: 184555
FPS: 10
Video Keys: ['observation.images.base_camera', 'observation.images.hand_camera']
Target Control Mode: Original
Original ManiSkill Metadata
{
"env_id": "PlugCharger-v1",
"env_kwargs": {
"obs_mode": "none",
"control_mode": "pd_joint_pos",
"render_mode":… See the full description on the dataset page: https://huggingface.co/datasets/johnMinelli/ManiSkill_PlugCharger-v1_mp.ManiSkill_PickCube-v1_mp
PickCube-v1 Dataset
This dataset was converted from ManiSkill format to LeRobot format.
Dataset Information
Environment: PickCube-v1
Total Episodes: 1000
Total Frames: 77976
FPS: 10
Video Keys: ['observation.image']
Target Control Mode: Original
Original ManiSkill Metadata
{
"env_id": "PickCube-v1",
"env_kwargs": {
"obs_mode": "none",
"control_mode": "pd_joint_pos",
"render_mode": "rgb_array",
"reward_mode": "dense",
"shader_dir":… See the full description on the dataset page: https://huggingface.co/datasets/johnMinelli/ManiSkill_PickCube-v1_mp.ManiSkill_StackCube-v1_mp_recomputed_statsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 10,
"features": {
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"timestamp": {… See the full description on the dataset page: https://huggingface.co/datasets/felsager/ManiSkill_StackCube-v1_mp_recomputed_stats.maniskill-pickcube-motionplanning-lerobot-v3
ManiSkill PickCube motion-planning — verified LeRobot v3 reference subset
Need to turn your own raw robotics data into LeRobot v3.0? Start a free conversion →
Community conversion produced by ViaCatalyst BYOD. This repository is not an official upstream release and is not affiliated with the ManiSkill authors.
This is a compact, provenance-complete conversion of the first 10 trajectories in the pinned ManiSkill PickCube-v1 motion-planning HDF5 file. It is a reproducible… See the full description on the dataset page: https://huggingface.co/datasets/ViaCatalyst/maniskill-pickcube-motionplanning-lerobot-v3.maniskill-peginsertionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"observation.images.base_camera": {
"dtype": "video",
"shape": [
480,
480,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {… See the full description on the dataset page: https://huggingface.co/datasets/KelinLiIC/maniskill-peginsertion.pickplace-red-blue-bins-maniskill-256-train-200raise-drawer-cabinet-maniskill-panda-c546698ba668raise-drawer-cabinet-maniskill-panda-43f144212d78pickplace-red-blue-bins-maniskill-256-eval-40ManiSkill_PegInsertionSide-v1_mp
PegInsertionSide-v1 Dataset
This dataset was converted from ManiSkill format to LeRobot format.
Dataset Information
Environment: PegInsertionSide-v1
Total Episodes: 1000
Total Frames: 149055
FPS: 10
Video Keys: ['observation.images.base_camera', 'observation.images.hand_camera']
Target Control Mode: Original
Original ManiSkill Metadata
{
"env_id": "PegInsertionSide-v1",
"env_kwargs": {
"obs_mode": "none",
"control_mode": "pd_joint_pos"… See the full description on the dataset page: https://huggingface.co/datasets/johnMinelli/ManiSkill_PegInsertionSide-v1_mp.raise-drawer-cabinet-maniskill-panda-d0fda5697fcaraise-drawer-cabinet-maniskill-panda-390d430e2f56raise-drawer-cabinet-maniskill-panda-df92b361a0c6raise-drawer-cabinet-maniskill-panda-fafc4d94fc35maniskill-pickcubeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"observation.images.base_camera": {
"dtype": "video",
"shape": [
480,
480,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {… See the full description on the dataset page: https://huggingface.co/datasets/KelinLiIC/maniskill-pickcube.maniskill-testThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"observation.images.base_camera": {
"dtype": "video",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {… See the full description on the dataset page: https://huggingface.co/datasets/KelinLiIC/maniskill-test.raise-drawer-cabinet-maniskill-panda-2f477616ed7draise-drawer-cabinet-maniskill-panda-63d1255d5edfraise-drawer-cabinet-maniskill-panda-f018f3db8c1ffranka_maniskill_pickcube_200This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 200,
"total_frames": 15620,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:200"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features":… See the full description on the dataset page: https://huggingface.co/datasets/pythonsong/franka_maniskill_pickcube_200.raise-drawer-cabinet-maniskill-panda-66d995e4a653ManiSkill_StackCube-v1_mp
StackCube-v1 Dataset
This dataset was converted from ManiSkill format to LeRobot format.
Dataset Information
Environment: StackCube-v1
Total Episodes: 1000
Total Frames: 107420
FPS: 10
Video Keys: ['observation.images.base_camera', 'observation.images.hand_camera']
Target Control Mode: Original
Original ManiSkill Metadata
{
"env_id": "StackCube-v1",
"env_kwargs": {
"obs_mode": "none",
"control_mode": "pd_joint_pos",
"render_mode": "rgb_array"… See the full description on the dataset page: https://huggingface.co/datasets/johnMinelli/ManiSkill_StackCube-v1_mp.maniskill-pickcubeThis dataset was created using ManiSkill.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 10,
"total_frames": 726,
"total_tasks": 1,
"total_videos": 10,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"data_files_size_in_mb": 0,
"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/dancher00/maniskill-pickcube.raise-drawer-cabinet-maniskill-panda-0a85b1ecb7b8ManiSkill_PegInsertionSide-v1_rl_with_recovery
PegInsertionSide-v1 Dataset
This dataset was converted from ManiSkill format to LeRobot format.
Dataset Information
Environment: PegInsertionSide-v1
Total Episodes: 1739
Total Frames: 95032
FPS: 20
Video Keys: ['observation.images.base_camera', 'observation.images.hand_camera']
Target Control Mode: Original
Original ManiSkill Metadata
{
"env_id": "PegInsertionSide-v1",
"env_kwargs": {
"control_mode": "pd_joint_delta_pos",
"render_mode":… See the full description on the dataset page: https://huggingface.co/datasets/johnMinelli/ManiSkill_PegInsertionSide-v1_rl_with_recovery.