datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
octo-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.pi0-stackcube-datasetredundancy_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.redundancy_stack_2_cubes_per3_ikaction_10fps
Redundancy Stack 2 Cubes Per3 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: 30 (10,700 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_per3_ikaction_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.redundancy_stack_2_cubes_per5_ikaction_10fps
Redundancy Stack 2 Cubes Per5 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: 50 (17,940 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_per5_ikaction_10fps.redundancy_stack_2_cubes_ours_phase2_per10_10fps
Redundancy Stack 2 Cubes Ours Phase2 Per10 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: 100 (37,600 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on Isaac Sim… See the full description on the dataset page: https://huggingface.co/datasets/HyeonseokE/redundancy_stack_2_cubes_ours_phase2_per10_10fps.cube_stack_lerobot_v3
Cube stack — lerobot_v3
Task: stack the red cube on the blue cube
UR7e/GELLO cube-stacking recordings collected on 2026-09-19. Place the red cube on top of the blue cube.
This preview is extracted from take_01_20260919_212809/cam1.mp4; it is not a separate setup photograph or an outcome label.
Contents
60 episodes / 20,177 cam1 master frames at 30 FPS (about 11.2 minutes). Two 1280×720 RGB cameras (cam1 scene, cam2 wrist); no depth. State/action each contain six… See the full description on the dataset page: https://huggingface.co/datasets/Bigenlight/cube_stack_lerobot_v3.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.redundancy_stack_2_cubes_ours_phase2_per3_10fps
Redundancy Stack 2 Cubes Ours Phase2 Per3 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: 30 (11,071 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_per3_10fps.redundancy_stack_2_cubes_ours_phase2_per5_10fps
Redundancy Stack 2 Cubes Ours Phase2 Per5 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: 50 (19,047 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_per5_10fps.IsaacLab-SO101_stack_2_cubes_baseCaP_100epi_10fps
CoRL2026-CSI/IsaacLab-SO101_stack_2_cubes_baseCaP_100epi_10fps
This dataset is derived from CoRL2026-CSI/IsaacLab-SO101_stack_2_cubes_baseCaP_300epi.
Episodes: 100 (episode_index 0 through 99)
FPS: 10
Source FPS: 30
Downsampling: observations use source frames 0, 3, 6, ...; action columns use source frames 2, 5, 8, ....
Tail policy: source frames without a valid 3k+2 action are dropped.
The dataset follows LeRobot v3.0 format.
maniskill3-stackcube-v1maniskill3-scene5-stackcubes-v1maniskill3-stackcube-v3maniskill3-scene5-stackcubes-v3maniskill3-stackcube-v4maniskill3-scene5-stackcubes-v2maniskill3-scene5-stackcubes-v4maniskill3-stackcube-v2real-stackcube-l3-20260517
Real Frank StackCube L3 20260517
这是一份已经转换好的真机 Frank StackCube L3 数据，用于复现实验和跑 baseline。
数据内容
压缩包：
real_stackcube_20260517_dit4dit.tar.gz
解压后目录：
real_stackcube_20260517/
primitive_lr/
success/
right_0000..0049/
left_0000..0049/
dual_stack3/
success/
dual_0000..0035/
dual_shots/
shot_01/
shot_03/
shot_05/
shot_10/
shot_20/
shot_30/
dual_heldout/
heldout_after_01/
heldout_after_03/
heldout_after_05/… See the full description on the dataset page: https://huggingface.co/datasets/Oliver-Ma/real-stackcube-l3-20260517.stack_cube_cloud_v1stack-cubes-small-pi05-v1-online-bufferstackcube_000_0_1100
Generate RGB Data
This step converts state-based trajectories into two-view RGB observations (third-person view + hand view) using ManiSkill3.
Prerequisites
The .h5 trajectory file and its corresponding .json metadata file must be placed in the same directory.
The provided dataset contains 1,100 state-based trajectories for the StackCube task.
Usage
Run the following command within your ManiSkill3 environment:
python -m mani_skill.trajectory.replay_trajectory… See the full description on the dataset page: https://huggingface.co/datasets/SakikoTogawa/stackcube_000_0_1100.