datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
pickapic_v1
Dataset Card for "pickapic_v1"
More Information needed
pick-a-pic-v2
Dataset Card for "pickapic_v2"
please pay attention - the URLs will be temporariliy unavailabe - but you do not need them! we have in jpg_0 and jpg_1 the image bytes! so by downloading the dataset you already have the images!
More Information needed
AgiBot-g1_picks_up_parts_b
AgiBot-g1_picks_up_parts_b
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: ruantong_a2d
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
factory
🤖 Atomic Actions
This dataset includes the following atomic actions:
place
pick
grasp
📊 Dataset Statistics
Metric
Value
Total Episodes… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AgiBot-g1_picks_up_parts_b.record-pick-and-place-pos5-so101This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 240,
"total_frames": 119443,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:240"
},
"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/hbseong/record-pick-and-place-pos5-so101.AgiBot-g1_picks_up_battery_b
AgiBot-g1_picks_up_battery_b
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: ruantong_a2d
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
factory
🤖 Atomic Actions
This dataset includes the following atomic actions:
place
pick
grasp
📊 Dataset Statistics
Metric
Value
Total Episodes… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AgiBot-g1_picks_up_battery_b.svla_so101_pickplaceThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100_follower",
"total_episodes": 50,
"total_frames": 11939,
"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/lerobot/svla_so101_pickplace.record-pick-and-place-so101This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 188,
"total_frames": 88161,
"total_tasks": 3,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:188"},
"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/hbseong/record-pick-and-place-so101.svla_so100_pickplaceThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 50,
"total_frames": 19631,
"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/lerobot/svla_so100_pickplace.record-pick-and-place-ez2-so101This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 171,
"total_frames": 108092,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:171"
},
"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/hbseong/record-pick-and-place-ez2-so101.AgiBot-g1_picks_up_battery_a
AgiBot-g1_picks_up_battery_a
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: ruantong_a2d
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
factory
🤖 Atomic Actions
This dataset includes the following atomic actions:
place
pick
grasp
📊 Dataset Statistics
Metric
Value
Total Episodes… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AgiBot-g1_picks_up_battery_a.record-pick-and-place-ez-so101This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 110,
"total_frames": 84580,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:110"},
"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/hbseong/record-pick-and-place-ez-so101.AgiBot-g1_picks_up_cardboard_box
AgiBot-g1_picks_up_cardboard_box
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: ruantong_a2d
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
place
pick
grasp
📊 Dataset Statistics
Metric
Value
Total… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AgiBot-g1_picks_up_cardboard_box.AgiBot-g1_pick_up_battery
AgiBot-g1_pick_up_battery
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: ruantong_a2d
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
factory
🤖 Atomic Actions
This dataset includes the following atomic actions:
place
pick
grasp
📊 Dataset Statistics
Metric
Value
Total Episodes… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AgiBot-g1_pick_up_battery.EgoDex-PickPlace-YAM-14dof-multiview
EgoDex → YAM 14-DOF, Multiview (LeRobot v2.1)
Egocentric human hand-manipulation demonstrations from EgoDex retargeted to a
YAM bimanual robot (14-DOF), packaged as a LeRobot v2.1 dataset with three
synthesized camera views. The observation schema is drop-in compatible with
angkul07/abc-teleop for
cotraining (identical Hz, camera keys, and action convention).
At a glance
Episodes
8,842
Frames
1,074,893
Control rate
30 Hz (30 fps video)
Robot
YAM… See the full description on the dataset page: https://huggingface.co/datasets/angkul07/EgoDex-PickPlace-YAM-14dof-multiview.AgiBot-g1_picks_up_parts_a
AgiBot-g1_picks_up_parts_a
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: ruantong_a2d
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
factory
🤖 Atomic Actions
This dataset includes the following atomic actions:
place
pick
grasp
📊 Dataset Statistics
Metric
Value
Total Episodes… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AgiBot-g1_picks_up_parts_a.task06_pickup_beaker_and_move_to_refrigeratorThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "mobileai_robot",
"total_episodes": 200,
"total_frames": 131573,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:200"
},
"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/kiroaiseoul/task06_pickup_beaker_and_move_to_refrigerator.iamlab_cmu_pickup_insert_lerobotThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "franka",
"total_episodes": 631,
"total_frames": 146241,
"total_tasks": 7,
"total_videos": 1262,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:631"},
"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/IPEC-COMMUNITY/iamlab_cmu_pickup_insert_lerobot.task06_pickup_beaker_and_move_to_refrigerator_14DThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "mobileai_robot",
"total_episodes": 232,
"total_frames": 142787,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:232"
},
"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/kiroaiseoul/task06_pickup_beaker_and_move_to_refrigerator_14D.community-v1-so101-pick_and_place-convertedThis dataset was created using LeRobot.
Dataset Description
Public LeRobot v3 derivative of the high-confidence pick-and-place, stacking,
sorting, and chess-relocation subset of HuggingFaceVLA/community_dataset_v1.
The source SO-100 six-joint action/state coordinates were converted into the
SO-101 coordinate convention measured in the author's 150-episode reference
set. The body-joint mapping is pan=x, shoulder_lift=180-x,
elbow_flex=x-180, wrist_flex=x, and wrist_roll=x;… See the full description on the dataset page: https://huggingface.co/datasets/zmfldlwx/community-v1-so101-pick_and_place-converted.G1_WBT_Brainco_Pickup_Pillow
Data Structure
Observations
observation.state.ee_state (12)
End-effector states of the robot.
Computed via forward kinematics (FK) from the root link to the left and right end-effectors.
Includes the contribution of the waist.
Represented as concatenated poses of both end-effectors.
observation.state.hand_state (12 or 2)
Finger states for both hands. The dimensionality depends on the hand type.
Inspire Hand (range: 0.0 – 1.0, open → close)… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_WBT_Brainco_Pickup_Pillow.G1_WBT_Inspire_Pick_Up_Drinks_v0
Data Structure
Observations
observation.state.ee_state (12)
End-effector states of the robot.
Computed via forward kinematics (FK) from the root link to the left and right end-effectors.
Includes the contribution of the waist.
Represented as concatenated poses of both end-effectors.
observation.state.hand_state (12 or 2)
Finger states for both hands. The dimensionality depends on the hand type.
Inspire Hand (range: 0.0… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_WBT_Inspire_Pick_Up_Drinks_v0.G1_WBT_Brainco_Pick_Up_Medicine_v0
Data Structure
Observations
observation.state.ee_state (12)
End-effector states of the robot.
Computed via forward kinematics (FK) from the root link to the left and right end-effectors.
Includes the contribution of the waist.
Represented as concatenated poses of both end-effectors.
observation.state.hand_state (12 or 2)
Finger states for both hands. The dimensionality depends on the hand type.
Inspire Hand (range: 0.0… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_WBT_Brainco_Pick_Up_Medicine_v0.iamlab_cmu_pickup_insert_train_500_631_augmented
iamlab_cmu_pickup_insert_train_500_631_augmented
Overview
Codebase version: v2.1
Robots: google_robot, images, jaco, kinova3, kuka_iiwa, sawyer, ur5e, widowX, xarm7
FPS: 20.0
Episodes: 131
Frames: 30,143
Videos: 1,179
Chunks: 1
Splits:
train: 0:131
Data Layout
data_path : data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
Features… See the full description on the dataset page: https://huggingface.co/datasets/oxe-auge/iamlab_cmu_pickup_insert_train_500_631_augmented.emg-pick-place-yellow-block-ppThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 22,
"total_frames": 7768,
"total_tasks": 1,
"total_videos": 44,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:22"
},
"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/jasontchan/emg-pick-place-yellow-block-pp.leisaac-pick-orangeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 60,
"total_frames": 36293,
"total_tasks": 1,
"total_videos": 120,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:60"
},
"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/LightwheelAI/leisaac-pick-orange.strawberry_picking_dataset_scara_extra
Strawberry Picking Dataset — SCARA Extra
Relationship to the paper: These are extra SCARA demonstrations collected
for other tasks and experimental setups. None of the data in this repository
were used in the training, evaluation, or other experiments reported in
Learning to Pick: A Visuomotor Policy for Clustered Strawberry Picking.
The paper is cited as related context for the robot platform and research area.
LeRobot v3.0 dataset converted from ACT/ALOHA HDF5 demos on… See the full description on the dataset page: https://huggingface.co/datasets/zfff/strawberry_picking_dataset_scara_extra.G1_Dex1_PickPlaceCylinder_Dataset_SimThis dataset was collected using the unitree_sim_isaaclab
simulation environment, and the scene/task name used during collection is Isaac-PickPlace-Cylinder-G129-Dex1-Joint. For more details, please refer to the project's README.
pick_and_place_occlusion
pick_and_place
QuestArmTeleop LeRobot v3 dataset. RGB is encoded as LeRobot video and lossless aligned depth is retained under rgbd/.
Point cloud
Point clouds are stored directly in Parquet as observation.pointcloud.xyz (float32 metres, shape [1024, 3], base_link), observation.pointcloud.rgb (uint8 RGB), and observation.pointcloud.valid_mask. They share the same row, frame index and timestamp as state/action.
See conversion_info.json for coordinate frames, units… See the full description on the dataset page: https://huggingface.co/datasets/Keith-Luo/pick_and_place_occlusion.G1_WBT_Inspire_Pickup_Pillow_MainCamOnly
Data Structure
Observations
observation.state.ee_state (12)
End-effector states of the robot.
Computed via forward kinematics (FK) from the root link to the left and right end-effectors.
Includes the contribution of the waist.
Represented as concatenated poses of both end-effectors.
observation.state.hand_state (12 or 2)
Finger states for both hands. The dimensionality depends on the hand type.
Inspire Hand (range: 0.0 – 1.0, open → close)… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_WBT_Inspire_Pickup_Pillow_MainCamOnly.ucsd_pick_and_place_datasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 1355,
"total_frames": 67750,
"total_tasks": 3,
"total_videos": 1355,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:1355"
},
"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/ucsd_pick_and_place_dataset.