datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
molmoact2_so100_101_rbmMolmoAct2-SO100_101-Dataset
MolmoAct2 SO-100/101 Dataset Manifest
This repository lists the SO-100 and SO-101 LeRobot datasets used for MolmoAct2 training. The datasets were collected from online LeRobot repositories, and this repository provides the annotated language instructions for each dataset.
The original dataset repositories are listed in repo_list.json. The list contains 1220 repositories from 377 users.
Language Annotations
Each dataset has a corresponding tasks_annotated.parquet file… See the full description on the dataset page: https://huggingface.co/datasets/allenai/MolmoAct2-SO100_101-Dataset.so100_base_env
SO-100 Base Environment (TsFile)
Apache TsFile version of shreyasgite/so100_base_env.
Overview
A LeRobot teleoperation dataset recorded on an SO-100 arm performing a Lego
pick-and-place task: "Grasp a lego block and put it in the bin." Each episode
captures the synchronized robot joint state and commanded action at every control
step.
Robot: so100 (6-DoF arm: shoulder pan/lift, elbow flex, wrist flex/roll, gripper).
Episodes: 252 (single train split).
Frames: 98… See the full description on the dataset page: https://huggingface.co/datasets/THULab/so100_base_env.hilserl_so100_grocery_so100_2025112223_20This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 381,
"total_frames": 209283,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 20,
"splits": {
"train": "0:381"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": null,
"features": {… See the full description on the dataset page: https://huggingface.co/datasets/jpizarrom/hilserl_so100_grocery_so100_2025112223_20.so100_kitchen_synthetic_dataso100-pick-cubeso100-curated
HaptalAI / SO-100 Curated Manipulation Pack
A quality-filtered, failure-labelled merge of SO-100 community manipulation datasets.
Built for imitation learning, RL from demonstrations, and failure-aware training.
What This Is
The SO-100 open-source robot arm has generated dozens of small community datasets on HuggingFace, each contributed by independent researchers and hobbyists. Individually these datasets are too small and inconsistent to train on reliably.… See the full description on the dataset page: https://huggingface.co/datasets/HaptalAI/so100-curated.SO100_training
SO100_training
This dataset was generated using phosphobot.
This dataset contains a series of episodes recorded with a robot and multiple cameras. It can be directly used to train a policy using imitation learning. It's compatible with LeRobot.
To get started in robotics, get your own phospho starter pack..
stackblocks_red_yellow_so100_blue_recapThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/lilkm/stackblocks_red_yellow_so100_blue_recap.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",
"features":… See the full description on the dataset page: https://huggingface.co/datasets/chamborgir/so100_pickplace_td.so100_mytask_putcubeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 1,
"total_frames": 870,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:1"
},
"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/chenhao6666/so100_mytask_putcube.so100_cloth_unfold_20257020_172530so100_mytask_putcube_0409This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 1,
"total_frames": 869,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:1"
},
"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/chenhao6666/so100_mytask_putcube_0409.so100_grab_itemso-100-pick-place-scripted-v3molmoact2_so100_101_smokeso-100-pick-place-scripted-v1so-100-pick-place-scripted-v2so100_train_12_episodesdp_so100_test_trainguitar-strumming-so100-v2lerobot_mujoco_so100mujoco_so100-2