datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
GR1-Tabletop-NextState-1000x24
GR1 Tabletop Merged LeRobot Datasets
Merged and subsampled versions of the GR1 tabletop manipulation datasets from the NVIDIA PhysicalAI-Robotics-GR00T-X-Embodiment-Sim collection, formatted in LeRobot v2.0 format.
Dataset Variants
Variant
Demos/Task
Tasks
Total Episodes
Total Frames
Approx Size
1000x24/
1000
24 folders, 186 unique tasks
24,000
6,020,058
~40 GB
300x24/
300
24 folders, 186 unique tasks
7,200
1,803,236
~12 GB
100x24/
100
24 folders… See the full description on the dataset page: https://huggingface.co/datasets/Joocjun/GR1-Tabletop-NextState-1000x24.utokyo_pr2_tabletop_manipulationThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 240,
"total_frames": 32708,
"total_tasks": 3,
"total_videos": 240,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:240"
},
"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/utokyo_pr2_tabletop_manipulation.piper-tabletopv2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 60,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
13
],
"names": [
"joint_1_rad",
"joint_2_rad",
"joint_3_rad",
"joint_4_rad",
"joint_5_rad",
"joint_6_rad"… See the full description on the dataset page: https://huggingface.co/datasets/ibrue/piper-tabletopv2.GR1-Tabletop-Merged-100x24
GR1 Tabletop Merged LeRobot Datasets
Merged and subsampled versions of the GR1 tabletop manipulation datasets from the NVIDIA PhysicalAI-Robotics-GR00T-X-Embodiment-Sim collection, formatted in LeRobot v2.0 format.
Dataset Variants
Variant
Demos/Task
Tasks
Total Episodes
Total Frames
Approx Size
1000x24/
1000
24 folders, 186 unique tasks
24,000
6,020,058
~40 GB
300x24/
300
24 folders, 186 unique tasks
7,200
1,803,236
~12 GB
100x24/
100
24 folders… See the full description on the dataset page: https://huggingface.co/datasets/Joocjun/GR1-Tabletop-Merged-100x24.GR1-Tabletop-NextState-100x24
GR1 Tabletop Merged LeRobot Datasets
Merged and subsampled versions of the GR1 tabletop manipulation datasets from the NVIDIA PhysicalAI-Robotics-GR00T-X-Embodiment-Sim collection, formatted in LeRobot v2.0 format.
Dataset Variants
Variant
Demos/Task
Tasks
Total Episodes
Total Frames
Approx Size
1000x24/
1000
24 folders, 186 unique tasks
24,000
6,020,058
~40 GB
300x24/
300
24 folders, 186 unique tasks
7,200
1,803,236
~12 GB
100x24/
100
24 folders… See the full description on the dataset page: https://huggingface.co/datasets/Joocjun/GR1-Tabletop-NextState-100x24.robocasa_gr1_tabletop_tasks_fingertipsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "robomimic",
"total_episodes": 2235,
"total_frames": 552031,
"total_tasks": 20,
"total_videos": 2235,
"total_chunks": 3,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:2235"
},
"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/ishika/robocasa_gr1_tabletop_tasks_fingertips.MolmoAct2-MolmoAct-Dataset-Tabletop
MolmoAct2-MolmoAct-Dataset-Tabletop
This dataset was created using LeRobot.
Language Annotations
This dataset includes annotated language instructions in meta/tasks_annotated.parquet. The file is indexed by episode_index and has a task column containing our per-episode annotated instruction.
The standard LeRobot loader resolves a frame's language instruction through task_index: each data row stores a task_index, which is looked up in meta/tasks.parquet. When you… See the full description on the dataset page: https://huggingface.co/datasets/allenai/MolmoAct2-MolmoAct-Dataset-Tabletop.robocasa_gr1_tabletop_tasksThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "robomimic",
"total_episodes": 2235,
"total_frames": 552031,
"total_tasks": 20,
"total_videos": 2235,
"total_chunks": 3,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:1877",
"test": "1877:2235"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/ishika/robocasa_gr1_tabletop_tasks.UR10_RTDE_SpaceMouse_EE_pick_and_place_object_tabletopThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ur10_rtde",
"total_episodes": 26,
"total_frames": 7557,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:26"
},
"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/ases200q2/UR10_RTDE_SpaceMouse_EE_pick_and_place_object_tabletop.GR1-Tabletop-Merged-300x24
GR1 Tabletop Merged LeRobot Datasets
Merged and subsampled versions of the GR1 tabletop manipulation datasets from the NVIDIA PhysicalAI-Robotics-GR00T-X-Embodiment-Sim collection, formatted in LeRobot v2.0 format.
Dataset Variants
Variant
Demos/Task
Tasks
Total Episodes
Total Frames
Approx Size
1000x24/
1000
24 folders, 186 unique tasks
24,000
6,020,058
~40 GB
300x24/
300
24 folders, 186 unique tasks
7,200
1,803,236
~12 GB
100x24/
100
24 folders… See the full description on the dataset page: https://huggingface.co/datasets/Joocjun/GR1-Tabletop-Merged-300x24.UR10_RTDE_SpaceMouse_EE_pick_and_place_object_tabletop_v1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ur10_rtde",
"total_episodes": 26,
"total_frames": 11790,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:26"
},
"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/ases200q2/UR10_RTDE_SpaceMouse_EE_pick_and_place_object_tabletop_v1.UR10_RTDE_SpaceMouse_EE_pick_and_place_object_tabletop_v3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ur10_rtde",
"total_episodes": 50,
"total_frames": 19057,
"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/ases200q2/UR10_RTDE_SpaceMouse_EE_pick_and_place_object_tabletop_v3.UR10_RTDE_SpaceMouse_EE_pick_and_place_object_tabletop_v1v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ur10_rtde",
"total_episodes": 50,
"total_frames": 18622,
"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/ases200q2/UR10_RTDE_SpaceMouse_EE_pick_and_place_object_tabletop_v1v2.GR1-Tabletop-NextState-300x24
GR1 Tabletop Merged LeRobot Datasets
Merged and subsampled versions of the GR1 tabletop manipulation datasets from the NVIDIA PhysicalAI-Robotics-GR00T-X-Embodiment-Sim collection, formatted in LeRobot v2.0 format.
Dataset Variants
Variant
Demos/Task
Tasks
Total Episodes
Total Frames
Approx Size
1000x24/
1000
24 folders, 186 unique tasks
24,000
6,020,058
~40 GB
300x24/
300
24 folders, 186 unique tasks
7,200
1,803,236
~12 GB
100x24/
100
24 folders… See the full description on the dataset page: https://huggingface.co/datasets/Joocjun/GR1-Tabletop-NextState-300x24.UR10_RTDE_SpaceMouse_EE_pick_and_place_object_tabletop_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 15,
"features": {
"action": {
"dtype": "float32",
"names": [
"delta_ee_pose.x",
"delta_ee_pose.y",
"delta_ee_pose.z",
"delta_ee_pose.rx",
"delta_ee_pose.ry",
"delta_ee_pose.rz",
"gripper_cmd_bin"
]… See the full description on the dataset page: https://huggingface.co/datasets/ases200q2/UR10_RTDE_SpaceMouse_EE_pick_and_place_object_tabletop_v2.kinova_tabletop_kitchen1_steeredluke-piper-tabletoptabletop_tomatoUR10_RTDE_SpaceMouse_EE_pick_and_place_object_tabletop_v3_filteredThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ur10_rtde",
"total_episodes": 48,
"total_frames": 18651,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:48"
},
"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/ases200q2/UR10_RTDE_SpaceMouse_EE_pick_and_place_object_tabletop_v3_filtered.kinova_tabletop_kitchen1_unsteeredUR5_RTDE_SpaceMouse_EE_pick_and_place_object_tabletop_filteredThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ur5_rtde",
"total_episodes": 48,
"total_frames": 11151,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:48"
},
"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/ases200q2/UR5_RTDE_SpaceMouse_EE_pick_and_place_object_tabletop_filtered.utokyo_pr2_tabletop_manipulation_lerobotThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 240,
"total_frames": 32708,
"total_tasks": 3,
"total_videos": 240,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:240"
},
"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/FedorX8/utokyo_pr2_tabletop_manipulation_lerobot.UR5_RTDE_SpaceMouse_EE_pick_and_place_object_tabletopThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ur5_rtde",
"total_episodes": 50,
"total_frames": 11235,
"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/ases200q2/UR5_RTDE_SpaceMouse_EE_pick_and_place_object_tabletop.UR5_RTDE_SpaceMouse_EE_pick_and_place_object_Easy_ALL_tabletop_filteredThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ur5_rtde",
"total_episodes": 131,
"total_frames": 32153,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 1,
"fps": 15,
"splits": {
"train": "0:131"
},
"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/ases200q2/UR5_RTDE_SpaceMouse_EE_pick_and_place_object_Easy_ALL_tabletop_filtered.allenai_MolmoAct2-MolmoAct-Dataset-Tabletop
MolmoAct2 MolmoAct Tabletop TsFile
Apache TsFile conversion of allenai/MolmoAct2-MolmoAct-Dataset-Tabletop, a LeRobot v3.0
tabletop robot dataset published by the Allen Institute for AI (allenai).
Source
License: Apache-2.0
Split: train; 2,959 episodes, 493,874 rows, 19 tasks, 20 fps
Source data: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
Source metadata includes per-episode annotated language instructions in meta/tasks_annotated.parquet.
Original… See the full description on the dataset page: https://huggingface.co/datasets/THULab/allenai_MolmoAct2-MolmoAct-Dataset-Tabletop.robocasa_gr1_tabletop_tasks_fingertips_correctedGenManip-Dataset-TableTop10Alohatabletop-pickcube-ri