datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
messy_pick_object_place_white_bowlPick object from the frying pan and place it in the white paper bowl.
messy_pick_object_place_plat_spotPick [object from the green box/ egg from the large round plate] and place it in the frying pan.
test_pick_place_arx_lerobot_raw200_h200This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "hessian",
"total_episodes": 50,
"total_frames": 11779,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 60,
"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/DistantSky/test_pick_place_arx_lerobot_raw200_h200.fr3_pickplace_extended_new_cmd_SYNC_part_corrected_with_prompt_testThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "fr3",
"total_episodes": 301,
"total_frames": 276017,
"total_tasks": 2,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 60,
"splits": {
"train": "0:301"
},
"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/yio-ye2004/fr3_pickplace_extended_new_cmd_SYNC_part_corrected_with_prompt_test.openpi_sim_pick_place
SO-101 Pick and Place Dataset (OpenPi Format)
This dataset contains 40 episodes of a simulated SO-101 robot performing pick-and-place tasks, converted to OpenPi/RLDS format for use with Physical Intelligence's Pi0/Pi0.5 models.
Source
Converted from LeRobot dataset: danbhf/sim_pick_place_merged_40ep
Format
Each episode is stored as an NPZ file containing:
Key
Shape
Type
Description
observation/state
(N, 6)
float32
Joint positions (6 DoF)… See the full description on the dataset page: https://huggingface.co/datasets/danbhf/openpi_sim_pick_place.so101_car_pick_and_placeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 98,
"total_frames": 67279,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:98"
},
"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/jonathm126/so101_car_pick_and_place.eval_so101_pick_place_bottle_v0This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 67,
"total_frames": 31113,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:67"
},
"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/Elvinky/eval_so101_pick_place_bottle_v0.pick_place_greencube_2025-08-29_180507
Pick Place Greencube 2025-08-29 180507 Dataset
This dataset contains teleoperated demonstrations for a pick-and-place task using a dummy_arm_inz arm with gripper.
Dataset Structure
Meta Information (meta/info.json)
{
"codebase_version": "v2.1",
"robot_type": "dummy_arm_inz",
"fps": 10,
"total_episodes": 26,
"total_frames": 5891,
"total_tasks": 1,
"total_videos": 52,
"splits": {
"train": "0:26"
},
"features": {
"action": {… See the full description on the dataset page: https://huggingface.co/datasets/inz/pick_place_greencube_2025-08-29_180507.phase1_pick_place_A1_10fps
Phase1 Pick Place A1 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: "Pick up the red block and place it on the blue dish."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 100 (28,459 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/phase1_pick_place_A1_10fps.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.svla_cap_pick_place
svla_cap_pick_place (TsFile)
Apache TsFile version of cher2018/svla_cap_pick_place.
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: 35
Frames: 26204
Sampling rate: 30 fps
Tasks: 1
Split: a single train split
Robot: so_follower
Cameras (not uploaded): top, side
Schema (TsFile structure)
All… See the full description on the dataset page: https://huggingface.co/datasets/THULab/svla_cap_pick_place.Pick-Place-Table-Reasoning-local-posphase1_pick_place_A1_10fps_via4cm
Phase1 Pick Place A1 10Fps Via4Cm
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: "Pick up the red block and place it on the blue dish."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 100 (28,530 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/phase1_pick_place_A1_10fps_via4cm.phase1_pick_place_A2_10fps_via4cm
Phase1 Pick Place A2 10Fps Via4Cm
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: "Pick up the red block and place it on the blue dish."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 100 (28,755 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/phase1_pick_place_A2_10fps_via4cm.utokyo_xarm_pick_and_place_val_augmented
utokyo_xarm_pick_and_place_val_augmented
Overview
Codebase version: v3.0
Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e, widowX
FPS: 10
Episodes: 10
Frames: 701
Splits:
train: 0:10
Data Layout
data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
Features
Feature
dtype
shape
description… See the full description on the dataset page: https://huggingface.co/datasets/oxe-auge/utokyo_xarm_pick_and_place_val_augmented.pick_and_place
Pick-and-place dataset (format v1)
Robot pick-and-place trajectories collected with a scripted task-space expert and joint-space PD control. Each NPZ is one episode. The current release contains one UR10 with Robotiq-85 dataset: 32 valid episodes, 32 successful episodes, and 32 rendered videos.
Repository layout and Hub preview
README.md
robots/<robot_id>/
README.md
metadata.json # Collection configuration, schema, ordering, and units… See the full description on the dataset page: https://huggingface.co/datasets/FlexPhysics/pick_and_place.PickPlace_staticMarker
PickPlace_staticMarker (TsFile)
Apache TsFile version of BlankHead/PickPlace_staticMarker.
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: 76
Frames: 26911
Sampling rate: 30 fps
Tasks: 1
Split: a single train split
Robot: so_follower
Cameras (not uploaded): wrist, up, side
Schema (TsFile structure)… See the full description on the dataset page: https://huggingface.co/datasets/THULab/PickPlace_staticMarker.Pick-Place-Table-Reasoning-local-pos-v0.2AlphaSpace: Enabling Robotic Actions through Semantic Tokenization and Symbolic Reasoning
utokyo_xarm_pick_and_place_train_augmented
utokyo_xarm_pick_and_place_train_augmented
Overview
Codebase version: v3.0
Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e, widowX
FPS: 10
Episodes: 92
Frames: 6,789
Splits:
train: 0:92
Data Layout
data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
Features
Feature
dtype
shape
description… See the full description on the dataset page: https://huggingface.co/datasets/oxe-auge/utokyo_xarm_pick_and_place_train_augmented.pick_place_ours_phase1_80_10fps
Pick Place 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: "Pick up the red block and place it on the blue dish."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 80 (22,998 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/pick_place_ours_phase1_80_10fps.pick_and_place_task01_10hz_lerobot_rgbThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "cobot_magic",
"total_episodes": 57,
"total_frames": 8327,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:57"
},
"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/lazycc/pick_and_place_task01_10hz_lerobot_rgb.SO101-single-pick_redblock_place_bluedishpiperx_pick_and_place_v1_4This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_piperx_follower",
"total_episodes": 301,
"total_frames": 368974,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"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/csjmacmi/piperx_pick_and_place_v1_4.so101_car_pick_and_place-bboxThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 98,
"total_frames": 67279,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:98"
},
"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/jonathm126/so101_car_pick_and_place-bbox.part4-pick_place_foodThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "hand",
"total_episodes": 4782,
"total_frames": 576797,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:4782"
},
"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/gsethia08/part4-pick_place_food.elrobot-pickplace
ElRobot Pick & Place Dataset
Teleoperation demonstrations recorded on NormaCore ElRobot (8-DOF + gripper).
Robot
NormaCore ElRobot — 7 rotational joints + 1 gripper (8 ST3215 servos)
Controller: Raspberry Pi 5
Cameras: 2x USB RGB (224x224)
Dataset Format (NormaCore custom parquet)
One row = one frame. Schema:
Column
Type
Description
episode_start_ns
uint64
Episode identifier
timestamp_ns_since_episode_start
uint64
Per-episode time… See the full description on the dataset page: https://huggingface.co/datasets/venayc/elrobot-pickplace.IsaacLab-SO101_pick_place_baseCaP_100epi_10fps
Isaaclab So101 Pick Place Basecap 100Epi 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.
Tasks: 78
Tasks
Pick up the black block and place it on the lime dish.
Pick up the blue block and place it on the gray dish.
Pick up the yellow block and place it on the black dish.
Pick up the gray block and place it on the green dish.
Pick up the pink block and place it on the red… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/IsaacLab-SO101_pick_place_baseCaP_100epi_10fps.so100_pickplace_tdThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"robot_type": "so_arm_100",
"codebase_version": "v3.0",
"total_episodes": 50,
"total_frames": 15320,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"… See the full description on the dataset page: https://huggingface.co/datasets/chamborgir/so100_pickplace_td.so101_pickplace
local/so101_rosbag_v3
LeRobot Dataset v3 conversion for SO101 from ROS2 db3 bags.
format: file-based v3
robot: so101
total_episodes: 2
total_frames: 1012
total_videos: 2
fps: 10.0
state_topic: /isaac_joint_states
action_topic: /isaac_joint_command
image_topic: /rgb
episodes_per_file: 1
pickplace_cube_finetuning_v31This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so100_follower",
"total_episodes": 30,
"total_frames": 4925,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:30"
},
"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/Leyo/pickplace_cube_finetuning_v31.