datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
menagerie_mujocotransporter_networks_mujocoThis datasets is generated using mujoco_robot_environments. Further instructions on accessing this dataset and generating your own to be included in future.
qsim-shelf-restocking-mujoco-300
Qsim MuJoCo Shelf Restocking
300 seeded synthetic shelf-restocking episodes with the stock bimanual OpenArm
robot, physical gripper contacts, smooth scripted motion, and synchronized robot
head and wrist camera observations.
Release status: complete — 300/300 episodes passed the task and dataset checks.
600 placements; 542,518 observation/action samples; 108,640 RGB frames per camera; 3.01 hours of simulated trajectories; 9.68 GB of HDF5 episodes.
Arm selections: {'left': 297… See the full description on the dataset page: https://huggingface.co/datasets/qualiadev/qsim-shelf-restocking-mujoco-300.mujoco_act_53epsmujoco_omy_ep40_lerobot_v3_try1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "omy",
"total_episodes": 40,
"total_frames": 15733,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:40"
},
"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/somusan/mujoco_omy_ep40_lerobot_v3_try1.the-stack-mujoco-xmlforceawareact-peg-hole-mujoco
ForceAwareACT MuJoCo Peg-in-Hole Teleoperation Dataset
Dataset Summary
This dataset is a raw force-aware MuJoCo peg-in-hole teleoperation archive with synchronized robot state, RGB images, force/torque wrench streams, command-action labels, event records, and episode metadata. It contains 100 episode directories and 200 raw episode files. The raw episode archive inspected for this card is 13,344,579,333 bytes (12.43 GiB), excluding this card and generated audit… See the full description on the dataset page: https://huggingface.co/datasets/shuteng0608/forceawareact-peg-hole-mujoco.clr_mujoco_datasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "omy",
"total_episodes": 2,
"total_frames": 1161,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:2"
},
"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/msavchen-nasa/clr_mujoco_dataset.mujoco20250524_mujoco-robot-descriptions-datasetmujoco-simple-structures-visualmujoco-robot-descriptions-dataset-visualtimor-mujoco-robot-descriptions-dataset-with-assetsmujoco-gymnasium-v5-benchmark
MuJoCo Gymnasium v5 Benchmark
PPO evaluation benchmark on MuJoCo Gymnasium v5 locomotion and manipulation environments.
Tasks
Task ID
Name
hopper-v5
Hopper-v5
halfcheetah-v5
HalfCheetah-v5
walker2d-v5
Walker2d-v5
ant-v5
Ant-v5
humanoid-v5
Humanoid-v5
reacher-v5
Reacher-v5
Usage
Submit evaluation results to this benchmark by adding .eval_results/*.yaml files
to your model repo, referencing this dataset's task IDs.
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mujoco-robot-descriptions-py-with-assetsmujoco_doc_dataset_qwen3_32bmujoco-robot-descriptions-py-with-assets-visualmujoco-simple-structurestimor-mujoco-robot-descriptions-dataset-with-assets-visualmujoco-component-descriptionsmujoco_pusher_sft_geminimujoco-robot-descriptions-datasetmujoco-robot-descriptions-dataset-with-assetssmolvla_mujoco_pickplace
MuJoCo Pick-and-Place Dataset
Dataset Information
Task: Pick and place manipulation with Open Manipulator-X
Episodes: 100
Total Frames: 2558
FPS: 30
Robot: open_manipulator_x
Features
observation.image: RGB camera feed (480x640x3)
observation.state: Robot state (10D vector)
Joint positions (4D): joint_1, joint_2, joint_3, joint_4
Gripper positions (2D): gripper_left, gripper_right
Gripper tip position (3D): tip_x, tip_y, tip_z
Grasp state (1D):… See the full description on the dataset page: https://huggingface.co/datasets/yechan3219/smolvla_mujoco_pickplace.mujoco-robot-descriptions-dataset-with-assets-visuallerobot_mujoco_so100mujoco-component-descriptions-enhancedmujoco_pusher_sftmujoco_pusher_sft_gpt5mujoco_doc_dataset_qwen3_8b