datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
strategic_game_cube
Cube
This dataset contains 1.64 billion Rubik's Cube solves, totaling roughly 236.39 billion moves.it is generated by Fugaku using https://github.com/trincaog/magiccube
Each solve has two columns: 'Cube' and 'Actions',
'Cube': initial scrambled states of a 3-3-3 cube in string, such as:
WOWWYOBWOOGWRBYGGOGBBRRYOGRWORBBYYORYBWRYBOGBGYGWWGRRY
the visual state of this example is
NOTICE: Crambled Cube States are spread out into the above string, row by row.
'Actions': list of… See the full description on the dataset page: https://huggingface.co/datasets/laion/strategic_game_cube.lewm-cube
LeWM Cube
An archive-free Lance conversion of quentinll/lewm-cube, released with LeWorldModel.
Open in the LeWM Dataset Visualizer.
Episodes
10,000
Timesteps
2,010,000
Episode length
201
Frames
224 × 224 RGB
Action dimensions
5
Files
train.lance: indexed training table (19.07 GiB)
train_episodes.lance: episode metadata
viewer/*.parquet: row-identical Hub-viewer mirror (12.54 GiB)
The viewer mirror repeats episode metadata on each… See the full description on the dataset page: https://huggingface.co/datasets/fracapuano/lewm-cube.cubeogb_cube_singleocto-small-simpler-cube-stack-rollout-bank-50
Octo-Small SIMPLER cube-stack rollout bank
This bank contains exactly 50 deterministic Octo-Small
rollouts for StackGreenCubeOnYellowCubeBakedTexInScene-v1: 3
successes and 47 failures. Every episode has a complete
61-frame H.264 video, a seven-frame contact sheet, losslessly stored per-step
telemetry, derived phase/geometry metrics, an external-LLM diagnosis, exact
evidence values, and a future action-patch hypothesis for failures.
Dataset:… See the full description on the dataset page: https://huggingface.co/datasets/lsnu/octo-small-simpler-cube-stack-rollout-bank-50.cubemap-8ksplatter-cube-pbmc3k
Splatter cube: controlled scRNA-seq variants with known cluster structure
180 simulated datasets: 60 parameter points x 3 seeds, each 2,000 cells x 16,085 genes with a known number of clusters.
Generated with splatter, with baseline
parameters estimated from real reference data rather than chosen by hand.
Files
data/pP_sS.h5ad -- counts (CSR). obs["Group"] holds the ground-truth cluster label.
metrics.csv -- one row per simulation: parameters, realised sparsity… See the full description on the dataset page: https://huggingface.co/datasets/btraven/splatter-cube-pbmc3k.spatialtunnel
SpatialTunnel
SpatialTunnel is a Blender-rendered diagnostic dataset for studying how vision-language models represent spatial relations internally. It was introduced in Why Far Looks Up: Probing Spatial Representation in Vision-Language Models (arXiv:2605.30161).
Resources
Project page
Contrastive-probing code
SpatialTunnel generation code
Dataset Configurations
Config
File
Rows
Description
phase_variation
phase_variation-*.parquet
12… See the full description on the dataset page: https://huggingface.co/datasets/cubec/spatialtunnel.piperx-put-cube-in-drawer-20260908-87ep
PiperX: put the cube into the drawer — 2026-09-08
87 recorded episodes, 54,463 frames, 30 FPS, approximately 30.26 minutes of recorded frames.
Collected on 2026-09-08 in Asia/Shanghai; source file times span approximately 03:37–05:06.
Task: put the cube into the drawer.
Contents
LeRobot v3.0 layout, dual PiperX arms, 14-dimensional action and state vectors.
Three RGB camera streams (top, left wrist, right wrist) and corresponding depth PNG ZIP archives.
Additional… See the full description on the dataset page: https://huggingface.co/datasets/Travor278/piperx-put-cube-in-drawer-20260908-87ep.cubemaps_padding_16px_captioned_40kcubert_ETHPy150Open
CuBERT ETH150 Open Benchmarks
This is an unofficial HuggingFace upload of the CuBERT ETH150 Open Benchmarks. This dataset was released along with Learning and Evaluating Contextual Embedding of Source Code.
Benchmarks and Fine-Tuned Models
Here we describe the 6 Python benchmarks we created. All 6 benchmarks were derived from ETH Py150 Open. All examples are stored as sharded text files. Each text line corresponds to a separate example encoded as a JSON object. For each… See the full description on the dataset page: https://huggingface.co/datasets/claudios/cubert_ETHPy150Open.piper_pick_cube_resize_mergedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"joint_1.pos",
"joint_2.pos",
"joint_3.pos",
"joint_4.pos",
"joint_5.pos",
"joint_6.pos",
"gripper.pos"
],
"shape": [… See the full description on the dataset page: https://huggingface.co/datasets/GabrielNing/piper_pick_cube_resize_merged.so101_pick_cubeDexdata format SO-101 dataset
Dataset Structure
so101_pick_cube
├── videos
│ ├── so101_20260630_103330_filtered
│ │ ├── file-000.mp4_top.mp4
│ │ └── file-000.mp4_wrist.mp4
│ └── ...
└── jsonl
├── episode_00000.jsonl
├── episode_00001.jsonl
└── ...
Task Description
This dataset contains robot manipulation demonstrations for the task:
Task: Pick the cube and place it in the plate
Object variations:… See the full description on the dataset page: https://huggingface.co/datasets/Dexmal/so101_pick_cube.push_cube_cap_10fpsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 100,
"total_frames": 21210,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"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/HyeonseokE/push_cube_cap_10fps.custom-cube-frontwristcam-50-v0This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 0,
"total_frames": 0,
"total_tasks": 0,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {},
"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/jurrr/custom-cube-frontwristcam-50-v0.ariel-2025-cube-masked-cacheextract_cube_cap_10fpsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 100,
"total_frames": 31575,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"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/HyeonseokE/extract_cube_cap_10fps.cube-detection-obb
Colored Cubes OBB Detection Dataset
A small object-detection dataset for oriented bounding box (OBB) detection of
four colored cubes (green, yellow, blue, red). Intended for training and
benchmarking YOLO-OBB style models in robotic-manipulation and pick-and-place
contexts.
Dataset Summary
Task: Oriented bounding box detection (4-point polygon per object)
Classes: 4 — green_cube, yellow_cube, blue_cube, red_cube
Images: 215 total · 1280×720 JPEG
Format: Ultralytics… See the full description on the dataset page: https://huggingface.co/datasets/movensys/cube-detection-obb.cubemap-8k-fullcube-detection-monoply-background-obb
Cube Detection on Monopoly Board Background (OBB)
A small oriented-bounding-box (OBB) detection dataset of colored cubes placed on a Movensys "Monopoly" board background. Intended for fine-tuning YOLO-style OBB detectors used in pick-and-place / robotic manipulation pipelines.
Classes
ID
Name
0
green_cube
1
yellow_cube
2
blue_cube
3
red_cube
Splits
Split
Images
Labels
train
104
104
val
29
29
test
16
16
total
149
149… See the full description on the dataset page: https://huggingface.co/datasets/movensys/cube-detection-monoply-background-obb.pull_cube_cap_10fpsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 100,
"total_frames": 31714,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"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/HyeonseokE/pull_cube_cap_10fps.2separate-robots-sweep-cubesThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5-panda",
"total_episodes": 360,
"total_frames": 109008,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:360"
},
"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/rdoshi21/2separate-robots-sweep-cubes.so101_cube_pick_place_0622
so101_cube_pick_place_0622 (TsFile)
Apache TsFile version of Chaenn/so101_cube_pick_place_0622.
Overview
A LeRobot robot manipulation dataset. Each frame holds the commanded action and observed observation.state joint positions; camera views are stored as videos in the original dataset.
Episodes: 102
Frames: 112484
Sampling rate: 30 fps
Tasks: 1
Split: a single train split
Robot: so_follower
Cameras (not uploaded): top, wrist, side
Schema (TsFile… See the full description on the dataset page: https://huggingface.co/datasets/THULab/so101_cube_pick_place_0622.PhysicalAI-Robotics-mindmap-Franka-Cube-Stacking
Dataset Description:
This dataset is a multimodal collection of trajectories generated in Isaac Lab on the Cube Stacking task defined in mindmap.
The task was created to evaluate robot manipulation policies on their spatial memory capabilities.
With this (partial) dataset you can generate the full dataset used for mindmap model training,
run a mindmap training or evaluate mindmap open/closed loop.
This dataset is for research and development only.
Dataset Owner(s):… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-mindmap-Franka-Cube-Stacking.put_cube_0908SO101-lv4-3color-cube-mat-to-mat-no-human-reset-alldir-v1-leadin-lookup
SO101 alldir-v1 — target cube & lead-in pose lookup table
Per-episode lookup table extracted from
geonmin-kim/SO101-lv4-3color-cube-mat-to-mat-no-human-reset-alldir-v1-target-id-leadin-pos.
episode_index (0..425) matches the source dataset 1:1.
column
dtype
description
episode_index
int64
Episode index — identical to the source LeRobot dataset
target_cube_color
string
Target cube color parsed from the task (red / green / blue)
target_cube_start_x
float32
Cube… See the full description on the dataset page: https://huggingface.co/datasets/geonmin-kim/SO101-lv4-3color-cube-mat-to-mat-no-human-reset-alldir-v1-leadin-lookup.redundancy_stack_2_cubes_per1_ikaction_10fps
Redundancy Stack 2 Cubes Per1 Ikaction 10Fps
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Stack the green block on the red block."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 10 (3,291 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on Isaac Sim 5.1 /… See the full description on the dataset page: https://huggingface.co/datasets/HyeonseokE/redundancy_stack_2_cubes_per1_ikaction_10fps.stack_2_cubes_cap_10fpsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 100,
"total_frames": 37245,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"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/HyeonseokE/stack_2_cubes_cap_10fps.pull_cube_ours_phase1_80_10fps
Pull Cube Ours Phase1 80 10Fps
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Pull the cube to the target marker."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 80 (25,568 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on Isaac Sim 5.1 / IsaacLab 2.3.2… See the full description on the dataset page: https://huggingface.co/datasets/HyeonseokE/pull_cube_ours_phase1_80_10fps.redundancy_stack_2_cubes_ours_phase2_per1_10fps
Redundancy Stack 2 Cubes Ours Phase2 Per1 10Fps
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Stack the green block on the red block."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 10 (3,635 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on Isaac Sim 5.1… See the full description on the dataset page: https://huggingface.co/datasets/HyeonseokE/redundancy_stack_2_cubes_ours_phase2_per1_10fps.