datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
egopi_latal_openarm_bottleegopi_latal_openarm_cupegopi_latal_openarm_snackopenarm_staticopenarm-202
OpenArm — place cube in flask (202 episodes)
Teleoperated demonstrations on a single-arm (right follower) OpenArm.
Task: pick a grey cylinder from an L-bracket and place it at a flask.
session
episodes
ticks
session3
100
68,808
session4
49
32,216
session5
53
28,107
total
202
129,131
Layout
session3/
data/episode_000078.parquet state + actions, 50 Hz
frames/episode_000078.tar -> episode_000078/{cam_high,cam_right_wrist… See the full description on the dataset page: https://huggingface.co/datasets/oalami/openarm-202.egopi_latal_openarm_dollopenarm_shirt_folding_new_convertedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "openarm_robot",
"total_episodes": 50,
"total_frames": 135766,
"total_tasks": 1,
"total_videos": 150,
"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/TobiBrtnr/openarm_shirt_folding_new_converted.openarm_pick_v6
OpenArm Pick v6 - LeRobot Dataset
A LeRobot v2.1 dataset for bimanual robot manipulation, recorded in Isaac Sim with teleoperation.
Dataset Description
This dataset contains teleoperated demonstrations of a bimanual OpenArm robot performing pick-and-place tasks. It was created for training the Pi0.5 model for robotic manipulation.
Quick Stats
Property
Value
Robot
openarm_bimanual
Episodes
100
Total Frames
65,190
Duration
~36.2… See the full description on the dataset page: https://huggingface.co/datasets/qualiadev/openarm_pick_v6.openarm_teleop_udp_d435_merged_20260725_lerobotThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos"… See the full description on the dataset page: https://huggingface.co/datasets/nkmurst/openarm_teleop_udp_d435_merged_20260725_lerobot.openarm-2-cell-pick_up_cube_mujoco-lerobot
openarm-2-cell-pick_up_cube_mujoco-lerobot
OpenArm 2 bimanual manipulation demonstrations ("pick up the cube") recorded in a
MuJoCo simulation cell through VR teleoperation, converted to the
LeRobot dataset format with
OpenArm Dataset.
Robot: OpenArm 2, bimanual (2 x 7 DoF + gripper, 16-dim state/action, joint positions)
Environment: MuJoCo simulation, VR teleoperation
Task: Pick up the cube.
Episodes: 30 (splits: train 0:24, val 24:30) — Frames: 5405 @ 30 fps
Cameras:… See the full description on the dataset page: https://huggingface.co/datasets/enactic/openarm-2-cell-pick_up_cube_mujoco-lerobot.openarm_pick_v6
OpenArm Pick v6 - LeRobot Dataset
A LeRobot v2.1 dataset for bimanual robot manipulation, recorded in Isaac Sim with teleoperation.
Dataset Description
This dataset contains teleoperated demonstrations of a bimanual OpenArm robot performing pick-and-place tasks. It was created for training the Pi0.5 model for robotic manipulation.
Quick Stats
Property
Value
Robot
openarm_bimanual
Episodes
100
Total Frames
65,190
Duration
~36.2 minutes
FPS
30… See the full description on the dataset page: https://huggingface.co/datasets/AiSaurabhPatil/openarm_pick_v6.bento_v2_openarmThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"joint_1.pos",
"joint_1.vel",
"joint_1.torque",
"joint_2.pos",
"joint_2.vel",
"joint_2.torque",
"joint_3.pos",
"joint_3.vel"… See the full description on the dataset page: https://huggingface.co/datasets/polarisai-robots/bento_v2_openarm.openarm_teleop_udp_d435_20260914_153326_150633_20260916_150242_140511_merged_pick_red_cubeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos"… See the full description on the dataset page: https://huggingface.co/datasets/nkmurst/openarm_teleop_udp_d435_20260914_153326_150633_20260916_150242_140511_merged_pick_red_cube.openarm_bimanual_shirt_folding_gen3_high_quality_rightfirst_with_rolloutsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_joint_6.pos",
"right_joint_7.pos"… See the full description on the dataset page: https://huggingface.co/datasets/videron/openarm_bimanual_shirt_folding_gen3_high_quality_rightfirst_with_rollouts.openarm_bimanual_shirt_folding_gen3_high_quality_rightfirst_recomputed_statsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_joint_6.pos",
"right_joint_7.pos"… See the full description on the dataset page: https://huggingface.co/datasets/videron/openarm_bimanual_shirt_folding_gen3_high_quality_rightfirst_recomputed_stats.openarm_bimanual_shirt_folding_gen3_25_episodes_level2_1_20260903_165502This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_joint_6.pos",
"left_joint_7.pos"… See the full description on the dataset page: https://huggingface.co/datasets/videron/openarm_bimanual_shirt_folding_gen3_25_episodes_level2_1_20260903_165502.openarm_mini_dual_camera_blue_sponge_0529_01_right_only_lpf_hybrid_v4This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_joint_6.pos",
"right_joint_7.pos"… See the full description on the dataset page: https://huggingface.co/datasets/aHiroakiIshikawa/openarm_mini_dual_camera_blue_sponge_0529_01_right_only_lpf_hybrid_v4.openarm_bimanual_shirt_folding_gen3_25_episodes_level2_fold_unfold_20260909_144152This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_joint_6.pos",
"left_joint_7.pos"… See the full description on the dataset page: https://huggingface.co/datasets/videron/openarm_bimanual_shirt_folding_gen3_25_episodes_level2_fold_unfold_20260909_144152.openarm-cube-distractor-lang-v3-relThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "openarm_bimanual_sim",
"total_episodes": 500,
"total_frames": 222451,
"total_tasks": 5,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:500"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/qualia-robotics/openarm-cube-distractor-lang-v3-rel.OpenArm_grab_sth_20260904_154243This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"joint_1.pos",
"joint_2.pos",
"joint_3.pos",
"joint_4.pos",
"joint_5.pos",
"joint_6.pos",
"joint_7.pos",
"gripper.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/pengli3/OpenArm_grab_sth_20260904_154243.openarm_mini_dual_camera_blue_sponge_0529_01_right_only_lpf05hzThis dataset was created using LeRobot.
openarm_mini_dual_camera_blue_sponge_0529_01_right_only_lpf05hz
Preprocessing
A Butterworth low-pass filter was applied to action and observation.state columns:
Parameter
Value
Filter type
Butterworth (zero-phase, filtfilt)
Order
4
Cutoff frequency
0.5 Hz
Sampling rate
30 Hz
Applied per
Episode (no cross-episode filtering)
stats.json was recomputed from the filtered data.
Video files are… See the full description on the dataset page: https://huggingface.co/datasets/aHiroakiIshikawa/openarm_mini_dual_camera_blue_sponge_0529_01_right_only_lpf05hz.openarm_visuomotor_domain_randomization_1000_jointsopenarm_bimanual_shirt_folding_gen3_25_episodes_high_quality_4_20260823_165202This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_joint_6.pos",
"left_joint_7.pos"… See the full description on the dataset page: https://huggingface.co/datasets/videron/openarm_bimanual_shirt_folding_gen3_25_episodes_high_quality_4_20260823_165202.openarm_bimanual_shirt_folding_gen3_25_episodes_level2_fold_2_20260910_090628_rightfirstThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_joint_6.pos",
"right_joint_7.pos"… See the full description on the dataset page: https://huggingface.co/datasets/videron/openarm_bimanual_shirt_folding_gen3_25_episodes_level2_fold_2_20260910_090628_rightfirst.openarm_visuomotor_no_domain_randomization_1000_jointsopenarm_bimanual_shirt_folding_gen3_345_episodes_fold_unfold_home_rightfirstThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_joint_6.pos",
"right_joint_7.pos"… See the full description on the dataset page: https://huggingface.co/datasets/videron/openarm_bimanual_shirt_folding_gen3_345_episodes_fold_unfold_home_rightfirst.openarm_bimanual_shirt_folding_gen3_25_episodes_level2_unfold_2_20260910_090628_rightfirstThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_joint_6.pos",
"right_joint_7.pos"… See the full description on the dataset page: https://huggingface.co/datasets/videron/openarm_bimanual_shirt_folding_gen3_25_episodes_level2_unfold_2_20260910_090628_rightfirst.openarm_bimanual_shirt_folding_gen3_25_episodes_level2_unfold_2_20260910_090628This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_joint_6.pos",
"left_joint_7.pos"… See the full description on the dataset page: https://huggingface.co/datasets/videron/openarm_bimanual_shirt_folding_gen3_25_episodes_level2_unfold_2_20260910_090628.openarm_bimanual_shirt_folding_gen3_25_episodes_level2_fold_20260909_144152This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_joint_6.pos",
"left_joint_7.pos"… See the full description on the dataset page: https://huggingface.co/datasets/videron/openarm_bimanual_shirt_folding_gen3_25_episodes_level2_fold_20260909_144152.openarm_bimanual_shirt_folding_gen3_25_episodes_level2_unfold_20260909_144152_rightfirstThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_joint_6.pos",
"right_joint_7.pos"… See the full description on the dataset page: https://huggingface.co/datasets/videron/openarm_bimanual_shirt_folding_gen3_25_episodes_level2_unfold_20260909_144152_rightfirst.