datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
PhysicalAI-Robotics-GR00T-Teleop-Sim
Simulation GR1 Tabletop Task 1K Dataset
Dataset Description:
The PhysicalAI-Robotics-GR00T-Teleop-GR1 dataset consists of 1000 teleoperation trajectories in simulation using the GR1 robot with upper body control. The simulation setup mimics tabletop manipulation tasks and uses RGB observations with a virtual camera. The robot is equipped with simulated Fourier hands.
This dataset is ready for non-commercial use.
Dataset Owner(s):
NVIDIA GEAR… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-Teleop-Sim.PhysicalAI-Robotics-GR00T-Teleop-GR1
Introduction
TL;DR: DreamDojo is a generalist robot world model pretrained on 44k hours of human egocentric data, showing unprecedented generalization to diverse objects and environments.
Project page: https://dreamdojo-world.github.io/
Paper: https://arxiv.org/abs/2602.06949
Code: https://github.com/NVIDIA/DreamDojo
How to Use
Check out https://github.com/NVIDIA/DreamDojo
Citation
@article{gao2026dreamdojo,
title={DreamDojo: A Generalist Robot… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-Teleop-GR1.synthetic-bathroom-dataset-for-robotic-perception
Synthetic Bathroom Dataset for Robotic Perception
Generated by datapack-import.ts
This dataset mirrors public data-pack render outputs from Physicl.
Each row represents one render view. The image column contains a stable URL to the primary render image uploaded under /data; image_path stores the relative repository path and data_commit_sha pins the Hugging Face dataset commit used by those URLs. Files are uploaded as downloaded unless optional PNG recompression is enabled by the… See the full description on the dataset page: https://huggingface.co/datasets/physicl/synthetic-bathroom-dataset-for-robotic-perception.synthetic-living-room-dataset-for-robotic-perception
Synthetic Living Room Dataset for Robotic Perception
Generated by datapack-import.ts
This dataset mirrors public data-pack render outputs from Physicl.
Each row represents one render view. The image column contains a stable URL to the primary render image uploaded under /data; image_path stores the relative repository path and data_commit_sha pins the Hugging Face dataset commit used by those URLs. Files are uploaded as downloaded unless optional PNG recompression is enabled by… See the full description on the dataset page: https://huggingface.co/datasets/physicl/synthetic-living-room-dataset-for-robotic-perception.PhysicalAI-Robotics-Manipulation-Kitchen
PhysicalAI Robotics Manipulation in the Kitchen
Dataset Description:
PhysicalAI-Robotics-Manipulation-Kitchen is a dataset of automatic generated motions of robots performing operations such as opening and closing cabinets, drawers, dishwashers and fridges. The dataset was generated in IsaacSim leveraging reasoning algorithms and optimization-based motion planning to find solutions to the tasks automatically [1, 3]. The dataset includes a bimanual manipulator built with… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Kitchen.PhysicalAI-Robotics-GR00T-Teleop-G1
Unitree G1 Fruits Pick and Place 1K Dataset
Dataset Description:
The PhysicalAI-Robotics-GR00T-Teleop-G1 dataset consists of1000 teleoperation trajectories of real robot data using Unitree G1, with upper body control. The robot chooses the correct fruit to pick and place on the plate according to the language prompt. A total of 4 fruits are used: Apple, Pear, Starfruit, Grape. The robot is equipped with the default realsense camera, and a pair of Unitree G1 Tri-fingers… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-Teleop-G1.microduck-emotions
Microduck Emotions
A collection of emotions for the Microduck robot. Each one is a motion and a sound designed together, beat by
beat, with the beak opening on the sound, rendered in the physics simulation and validated on the real robot. Every
emotion is three files: the motion (emotions/<name>.json, keyframes at 30 fps: head and body offsets played on
top of whichever trained policy is active, plus the policy hand-overs, such as the sit that devastated and play dead
start)… See the full description on the dataset page: https://huggingface.co/datasets/pollen-robotics/microduck-emotions.challenge2026_dataset
Challenge 2026 Dataset
This dataset provides training/evaluation data for the 2026 Global Humanoid Robot Challenge Simulation Competition.
Data Format: LeRobot v3.0
Directory Structure
Part_Sorting/ - Desktop Fine-Grained Part Sorting
├── data/
├── meta/
├── videos/
Packing_Box/ - Carton Sealing and Packing
├── data/
├── meta/
├── videos/
Foam_Inlaying/ - Precise Part Assembly
├── data/
├──… See the full description on the dataset page: https://huggingface.co/datasets/UBTECH-Robotics/challenge2026_dataset.AgiBot-g1_robotic_arm_picks_up_battery
AgiBot-g1_robotic_arm_picks_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… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AgiBot-g1_robotic_arm_picks_up_battery.AgiBot-g1_robotic_arm_picks_up_parts
AgiBot-g1_robotic_arm_picks_up_parts
📋 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… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AgiBot-g1_robotic_arm_picks_up_parts.PhysicalAI-Robotics-Manipulation-ObjectsPhysicalAI-Robotics-Manipulation-Objects is a dataset of automatic generated motions of robots performing operations such as picking and placing objects in a kitchen environment. The dataset was generated in IsaacSim leveraging reasoning algorithms and optimization-based motion planning to find solutions to the tasks automatically [1, 3]. The dataset includes a bimanual manipulator built with Kinova Gen3 arms. The environments are kitchen scenes where the furniture and appliances were… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Objects.robolab-init-positionsfactory-manipulation-videos
Factory manipulation videos
Procedural Robotics is open sourcing a small set of our factory data so teams can assess its quality. The videos show workers performing factory tasks.
Contents
Seven continuous takes, 109 minutes in total.
Task
Station
Worker
Duration
File
cardboard manipulation
01
041
23.6 min
cardboard_manipulation_station01_worker041.mp4
cardboard manipulation
04
026
16.5 min
cardboard_manipulation_station04_worker026.mp4
defect… See the full description on the dataset page: https://huggingface.co/datasets/procedural-robotics/factory-manipulation-videos.team-7-right-arm-grasp-tapeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 100,
"total_frames": 59711,
"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/roboticshack/team-7-right-arm-grasp-tape.team2-guess_who_so100_lightThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 96,
"total_frames": 19853,
"total_tasks": 1,
"total_videos": 96,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:96"
},
"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/roboticshack/team2-guess_who_so100_light.team13-two-balls-stackingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 51,
"total_frames": 13476,
"total_tasks": 1,
"total_videos": 102,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:51"
},
"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/roboticshack/team13-two-balls-stacking.droid_v3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "Franka",
"total_episodes": 95658,
"total_frames": 27630375,
"total_tasks": 49630,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:95658"
},
"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/DAVIAN-Robotics/droid_v3.team16-water-pouringThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 50,
"total_frames": 29887,
"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/roboticshack/team16-water-pouring.apple_storageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "reachy2",
"total_episodes": 50,
"total_frames": 14983,
"total_tasks": 1,
"total_videos": 50,
"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/pollen-robotics/apple_storage.team13-three-balls-stackingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 101,
"total_frames": 48652,
"total_tasks": 1,
"total_videos": 202,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:101"
},
"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/roboticshack/team13-three-balls-stacking.team16-cleaning-plateThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 100,
"total_frames": 74893,
"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/roboticshack/team16-cleaning-plate.robocasa-MG_3000This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "robomimic",
"total_episodes": 70513,
"total_frames": 19636669,
"total_tasks": 340,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:70513"},
"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/DAVIAN-Robotics/robocasa-MG_3000.apple_storage_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "reachy2",
"total_episodes": 54,
"total_frames": 12906,
"total_tasks": 1,
"total_videos": 54,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:54"
},
"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/pollen-robotics/apple_storage_2.0528_bk_config1_peg_stackThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 15,
"total_frames": 4278,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:15"
},
"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/DAVIAN-Robotics/0528_bk_config1_peg_stack.0528_bk_config3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 60,
"total_frames": 13747,
"total_tasks": 11,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"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/DAVIAN-Robotics/0528_bk_config3.chinese-ai-and-robotics-open-intelligence
🔬 Chinese AI, Humanoid Robotics & Neural Systems Open Intelligence Dataset
Curated open intelligence dataset tracking Chinese frontier developments in Large Language Models (LLMs), Humanoid Dynamic Locomotion, 3D Computer Vision, and Neuromorphic edge processors.
[!IMPORTANT]
Data Completeness & Research Authenticity Notice:
Included in this Hugging Face Open Dataset: English structured abstracts, core quantitative takeaways, author institutional affiliations, and… See the full description on the dataset page: https://huggingface.co/datasets/simpleG2023/chinese-ai-and-robotics-open-intelligence.robot-meet-gemma-record-medicineThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 13,
"total_frames": 6119,
"total_tasks": 1,
"total_videos": 26,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 25,
"splits": {
"train": "0:13"},
"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/AS-Robotics/robot-meet-gemma-record-medicine.team2-guess_who_so100This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 96,
"total_frames": 23114,
"total_tasks": 1,
"total_videos": 96,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:96"
},
"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/roboticshack/team2-guess_who_so100.team16-can-stackingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 40,
"total_frames": 23959,
"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/roboticshack/team16-can-stacking.qualia-dataset-real
Qualia Real-Robot Datasets
Release
release-2026-07-19.3 (changelog)
Domain
Real-robot recordings
Format
LeRobot v2.1
Access
Public
Contact
Start a discussion
Public access makes the recordings inspectable and reproducible; usage rights still follow each
source dataset. See License and provenance.
Dataset description
This repository collects Qualia's real-robot datasets in one place. Each dataset contains one
instruction and records the… See the full description on the dataset page: https://huggingface.co/datasets/qualia-robotics/qualia-dataset-real.