datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
YCB-V-DSWe provide our stereo recordings for the YCB-V object dataset, as well as some of our physically-based stereo renderings.
Contents
stereo+depth recordings/ — raw stereo video recordings (.mkv)
train_pbr_left*.z*, train_pbr_right*.z* — physically-based rendered training data (split zip archives), left/right stereo
test_pbr_left.zip — physically-based rendered test data
test_bboxes/ — BOP-format annotation JSONs:
test_targets_pbr_left.json — flat list of {im_id, inst_count… See the full description on the dataset page: https://huggingface.co/datasets/tpoellabauer/YCB-V-DS.so101-ycb-pickplace-random-pattern
SO-101 YCB Pick & Place Simulation Dataset
MuJoCo シミュレーションで収集した SO-101 ロボットアームの Pick & Place デモデータセット。
実 YCB オブジェクト（google_16k スキャンメッシュ、78 種）をエピソードごとにランダム配置。
LeRobot v3.0 形式（codebase_version: v3.0）。
概要
項目
値
エピソード数
20,000
フレーム総数
10,402,525
制御周波数
50 Hz
カメラ
front (480×640), wrist (480×640)
オブジェクト
YCB google_16k メッシュ 78 種（グリッパー適合スケール）
ロボット
SO-101（6-DOF）
タスク
Pick & Place
関節名
['shoulder_pan', 'shoulder_lift', 'elbow_flex'… See the full description on the dataset page: https://huggingface.co/datasets/szk1ck/so101-ycb-pickplace-random-pattern.so101-ycb-pickplace
SO-101 YCB Pick & Place Simulation Dataset
MuJoCo シミュレーションで収集した SO-101 ロボットアームの Pick & Place デモデータセット。
実 YCB オブジェクト（google_16k スキャンメッシュ、78 種）をエピソードごとにランダム配置。
LeRobot v3.0 形式（codebase_version: v3.0）。
概要
項目
値
エピソード数
20,000
フレーム総数
10,442,705
制御周波数
50 Hz
カメラ
front (480×640), wrist (480×640)
オブジェクト
YCB google_16k メッシュ 78 種（グリッパー適合スケール）
ロボット
SO-101（6-DOF）
タスク
Pick & Place
関節名
['shoulder_pan', 'shoulder_lift', 'elbow_flex'… See the full description on the dataset page: https://huggingface.co/datasets/szk1ck/so101-ycb-pickplace.ycbench
YCbench
A live benchmark dataset for forecasting startup outperformance in Y Combinator batches.
This dataset was introduced in the paper:"YC Bench: a Live Benchmark for Forecasting Startup Outperformance in Y Combinator Batches" by Mostapha Benhenda.
Dataset Overview
YCbench provides structured public signals for Y Combinator startups (focused on the W26 batch of 196 companies). It enables rapid evaluation of models that predict which startups will outperform their batch… See the full description on the dataset page: https://huggingface.co/datasets/benstaf/ycbench.yc-bottleThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 60,
"features": {
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_shoulder_1.pos",
"left_shoulder_2.pos",
"left_shoulder_3.pos",
"left_elbow.pos",
"left_wrist_1.pos"… See the full description on the dataset page: https://huggingface.co/datasets/almond-bot/yc-bottle.ur10e-ycb-stack-100bThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ure",
"total_episodes": 105,
"total_frames": 79364,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:105"
},
"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/ngres/ur10e-ycb-stack-100b.leros2-ur10e-ycb-cubeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ure",
"total_episodes": 19,
"total_frames": 15115,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:19"
},
"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/ngres/leros2-ur10e-ycb-cube.ur10e-ycb-cube-vive-300This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ure",
"total_episodes": 301,
"total_frames": 179362,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:301"
},
"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/ngres/ur10e-ycb-cube-vive-300.ur10e-ycb-cube-viveThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ure",
"total_episodes": 200,
"total_frames": 117881,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"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/ngres/ur10e-ycb-cube-vive.ur10e-ycb-stack-100This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ure",
"total_episodes": 100,
"total_frames": 85382,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:100"
},
"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/ngres/ur10e-ycb-stack-100.ur10e-ycb-stack-200This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ure",
"total_episodes": 205,
"total_frames": 164746,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:205"
},
"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/ngres/ur10e-ycb-stack-200.ur10e-ycb-stack-100b_s2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ure",
"total_episodes": 51,
"total_frames": 38792,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:51"
},
"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/ngres/ur10e-ycb-stack-100b_s2.ur10e-ycb-cube-spacemouse-100bThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ure",
"total_episodes": 117,
"total_frames": 64489,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:117"
},
"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/ngres/ur10e-ycb-cube-spacemouse-100b.ur10e-ycb-cube-spacemouseThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ure",
"total_episodes": 101,
"total_frames": 61481,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:101"
},
"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/ngres/ur10e-ycb-cube-spacemouse.leros2-ur10e-ycb-cube-baseThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ure",
"total_episodes": 109,
"total_frames": 85904,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:109"
},
"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/ngres/leros2-ur10e-ycb-cube-base.ur10e-ycb-cube-vive-100This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ure",
"total_episodes": 111,
"total_frames": 68570,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:111"
},
"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/ngres/ur10e-ycb-cube-vive-100.ur10e-ycb-cube-vive-100_s1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ure",
"total_episodes": 51,
"total_frames": 35558,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:51"
},
"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/ngres/ur10e-ycb-cube-vive-100_s1.ur10e-ycb-cube-vive-100_s2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ure",
"total_episodes": 51,
"total_frames": 27802,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:51"
},
"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/ngres/ur10e-ycb-cube-vive-100_s2.ur10e-ycb-cube-spacemouse-200This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ure",
"total_episodes": 218,
"total_frames": 125970,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:218"
},
"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/ngres/ur10e-ycb-cube-spacemouse-200.ur10e-ycb-stack-100b_s1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ure",
"total_episodes": 51,
"total_frames": 38896,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:51"
},
"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/ngres/ur10e-ycb-stack-100b_s1.