datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
forge-failure-v1
Forge failure v1 — the episodes the expert lost
The failed episodes from the same collection that produced
angledusgar/forge-v1: identical policies,
identical environments, identical recording — only the outcome differs. Same schema, so the two
sets can be mixed or contrasted directly.
They are published apart from the successes on purpose. Imitation learning on failed trajectories
teaches failing, so a behaviour-cloning consumer should never receive them by accident; a failure… See the full description on the dataset page: https://huggingface.co/datasets/angledusgar/forge-failure-v1.FORGE-Bench
FORGE Bench generated videos
This dataset release contains generated videos whose retained provenance has
been accepted for publication.
Currently published collections:
Seedance 2.5
Veo 3.1 Fast
A previously evaluated 500-video candidate collection is not part of this
release because its generator identity cannot be independently verified from
retained submission, query, or retrieval records. Neither that collection nor
its scores should be attributed to a named model.
See… See the full description on the dataset page: https://huggingface.co/datasets/aaaabcd/FORGE-Bench.forge-v1
Forge v1 — contact-rich manipulation with force/torque, 3 tasks
Expert demonstrations for the three Isaac Lab FORGE
tasks, collected from trained rl_games PPO policies. Successful episodes only; the failures from
the same collection are published separately as
angledusgar/forge-failure-v1.
Beyond the usual LIBERO-shaped fields this dataset carries the wrist force/torque signal, which
is what makes contact-rich insertion legible: the peg/hole clearance is 0.114 mm, far below what… See the full description on the dataset page: https://huggingface.co/datasets/angledusgar/forge-v1.aim-bolt-screwThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 100,
"total_frames": 46827,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"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/kd-forge/aim-bolt-screw.demo_table_sort_bolts_nutsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so100_k01_m2",
"total_episodes": 105,
"total_frames": 74720,
"total_tasks": 1,
"chunks_size": 1000000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:105"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/kd-forge/demo_table_sort_bolts_nuts.demo_table_sort_bolts_nuts_2603_cleanThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so100_k01_m2",
"total_episodes": 238,
"total_frames": 113993,
"total_tasks": 1,
"chunks_size": 1000000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:238"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/kd-forge/demo_table_sort_bolts_nuts_2603_clean.eval_act_demo_table_sort_bolts_grid_nuts_merged_filtered_front_c6_12epThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so100_k01_m2",
"total_episodes": 18,
"total_frames": 32074,
"total_tasks": 1,
"chunks_size": 1000000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:18"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/kd-forge/eval_act_demo_table_sort_bolts_grid_nuts_merged_filtered_front_c6_12ep.sort_down_sideThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so_follower",
"total_episodes": 40,
"total_frames": 25137,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"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/kd-forge/sort_down_side.aim-bolt-nut_clearwb1-tanya-sort-3001This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 100,
"total_frames": 76591,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"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/kd-forge/wb1-tanya-sort-3001.wb2-sort-screws-bolts-new-cameraThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 50,
"total_frames": 28328,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:50"
},
"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/kd-forge/wb2-sort-screws-bolts-new-camera.wb2_sort_screws_boltsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 50,
"total_frames": 29009,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:50"
},
"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/kd-forge/wb2_sort_screws_bolts.demo_table_sort_bolts_nuts_cleanwb2_sort_screws_bolts_p2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 39,
"total_frames": 55485,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:39"
},
"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/kd-forge/wb2_sort_screws_bolts_p2.sort_down_side_05This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so_follower",
"total_episodes": 39,
"total_frames": 25696,
"total_tasks": 1,
"chunks_size": 1000000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:39"
},
"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/kd-forge/sort_down_side_05.wb1-threadint-bolt-2901This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 31,
"total_frames": 41720,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:31"
},
"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/kd-forge/wb1-threadint-bolt-2901.wb1_sort_bolts_and_screws_1803This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so_follower",
"total_episodes": 100,
"total_frames": 82647,
"total_tasks": 1,
"chunks_size": 1000000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/kd-forge/wb1_sort_bolts_and_screws_1803.wb2-insert-bolt-screwThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 102,
"total_frames": 35705,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:102"
},
"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/kd-forge/wb2-insert-bolt-screw.demo_table_sort_bolts_nuts_2703This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so100_k01_m2",
"total_episodes": 216,
"total_frames": 131765,
"total_tasks": 1,
"chunks_size": 1000000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:216"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/kd-forge/demo_table_sort_bolts_nuts_2703.demo_table_sort_bolts_grid_nuts_3003This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so100_k01_m2",
"total_episodes": 100,
"total_frames": 90069,
"total_tasks": 1,
"chunks_size": 1000000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/kd-forge/demo_table_sort_bolts_grid_nuts_3003.pick-thread-bolt-2601This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 30,
"total_frames": 45236,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"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/kd-forge/pick-thread-bolt-2601.demo_left_table_pnp_bolts_grid_204This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so100_k01_m2",
"total_episodes": 103,
"total_frames": 65085,
"total_tasks": 1,
"chunks_size": 1000000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:103"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/kd-forge/demo_left_table_pnp_bolts_grid_204.sort-screw-new-cameraThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 45,
"total_frames": 27436,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:45"
},
"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/kd-forge/sort-screw-new-camera.demo_table_sort_bolts_grid_nuts_3103This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so100_k01_m2",
"total_episodes": 90,
"total_frames": 85087,
"total_tasks": 1,
"chunks_size": 1000000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:90"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/kd-forge/demo_table_sort_bolts_grid_nuts_3103.wb2-screw-bolt-3-camThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 29,
"total_frames": 45254,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:29"
},
"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/kd-forge/wb2-screw-bolt-3-cam.eval_diffusion_demo_table_sort_bolts_grid_nuts_merged_filtered_up_10epThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so100_k01_m2",
"total_episodes": 16,
"total_frames": 11407,
"total_tasks": 1,
"chunks_size": 1000000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:16"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/kd-forge/eval_diffusion_demo_table_sort_bolts_grid_nuts_merged_filtered_up_10ep.wb1-threadint-bolt-3001-p2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 25,
"total_frames": 35927,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:25"
},
"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/kd-forge/wb1-threadint-bolt-3001-p2.eval_act_rac_protocolThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 27,
"total_frames": 19982,
"total_tasks": 1,
"chunks_size": 1000000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:27"
},
"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/kd-forge/eval_act_rac_protocol.pick-thread-bolt-2701This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 20,
"total_frames": 28288,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 50000,
"fps": 30,
"splits": {
"train": "0:20"
},
"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/kd-forge/pick-thread-bolt-2701.forge_2_20260606_203834This 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/Wani67/forge_2_20260606_203834.