datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
robotwin_merged
LaWAM: Latent World Action Models for Efficient Dynamics-Aware Robot Policies
This repository contains the preprocessed dataset used in the paper LaWAM: Latent World Action Models for Efficient Dynamics-Aware Robot Policies.
Project Page: https://rlinf.github.io/LaWAM/
Repository: https://github.com/RLinf/LaWAM
The dataset is formatted in LeRobot format and is designed for training and evaluating dynamics-aware robot policies.
Citation
@misc{chen2026lawam… See the full description on the dataset page: https://huggingface.co/datasets/jialei02/robotwin_merged.jetson1-061026-subtask-tilt-doris-mergedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos",
"tilt.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/jetson1-061026-subtask-tilt-doris-merged.Merged_PickPlace_PlasticBottle_CoffeeCan_KJM_WJW_lerobot
Merged PickPlace dataset
LeRobot v2.1, 15 FPS, ffw_sg2_rev1.
626 episodes, 123209 frames, 2504 videos.
Tasks:
Pick up the plastic bottle.
Pick up the coffee can.
Sources, in merge order:
Task_000613_PickPlace_PlasticBottle_KJM_WJW_lerobot
Task_000630_PickPlace_PlasticBottle_KJM_WJW_lerobot
Task_000632_PickPlace_CoffeeCan_KJM_WJW_lerobot
Task_000640_PickPlace_CoffeeCan_KJM_WJW_lerobot
Task_000644_PickPlace_PlasticBottle_KJM_WJW_lerobot… See the full description on the dataset page: https://huggingface.co/datasets/RobotisSW/Merged_PickPlace_PlasticBottle_CoffeeCan_KJM_WJW_lerobot.Merged_Reasoning_TasksThis 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/justintiensmith/Merged_Reasoning_Tasks.origami-v3-merged
Robotic Origami Challenge — Unified LeRobot v3.0
A single, ready-to-train LeRobot v3.0 dataset of real-world bimanual dexterous
paper-airplane folding (robot type north_ces, Sharpa Hands), consolidated from
the per-season releases of the Robotic Origami Challenge.
Provenance. The upstream release ships as 46 separate per-season datasets,
each a self-contained v3.0 tree whose episode/frame/file indices restart at 0, plus a
redundant v2.1 copy. This repo merges all lerobot3.0… See the full description on the dataset page: https://huggingface.co/datasets/iris-kaist/origami-v3-merged.origami-v3-merged
Robotic Origami Challenge — Unified LeRobot v3.0
A single, ready-to-train LeRobot v3.0 dataset of real-world bimanual dexterous
paper-airplane folding (robot type north_ces, Sharpa Hands), consolidated from
the per-season releases of the Robotic Origami Challenge.
Provenance. The upstream release ships as 46 separate per-season datasets,
each a self-contained v3.0 tree whose episode/frame/file indices restart at 0, plus a
redundant v2.1 copy. This repo merges all lerobot3.0… See the full description on the dataset page: https://huggingface.co/datasets/suveen013/origami-v3-merged.so101_merged_20260701_fixedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"… See the full description on the dataset page: https://huggingface.co/datasets/makermods/so101_merged_20260701_fixed.gr00t-g1-grab-bottle-right-hand-radius-20-merged
Grab-Bottle (right hand) - radius-20 merged
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. This is a
merge of two source teleoperation datasets, curated with the zero-wandering
pipeline at smoothing half-width 20 and safe_frames 50, then renumbered into
one contiguous set of 502 episodes. It is the largest and best-curated set of the
grab-bottle lineage and the training data for the
v6 GR00T N1.7 fine-tune.
Each surviving clean sub-segment is emitted as its… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-radius-20-merged.merged_200ep_24corr3x_10trans_blue_cube_orange_trayThis 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/makermods/merged_200ep_24corr3x_10trans_blue_cube_orange_tray.merged_200ep_100corr3x_blue_cube_orange_boxThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"… See the full description on the dataset page: https://huggingface.co/datasets/makermods/merged_200ep_100corr3x_blue_cube_orange_box.new_camera_orange_color_mergedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"… See the full description on the dataset page: https://huggingface.co/datasets/makermods/new_camera_orange_color_merged.merged_libero_mask_noops_lerobotThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 1676,
"total_frames": 269918,
"total_tasks": 40,
"total_videos": 10056,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:1676"
},
"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/binhng/merged_libero_mask_noops_lerobot.dataset_merged_3src_20260429_augIROS2026_RAMEN_HARA_task_0_optimal_merged_v1demo-test-mergedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 78,
"total_frames": 30488,
"total_tasks": 2,
"total_videos": 156,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:78"
},
"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/Hnyquister/demo-test-merged.piper_handout_merged_v4_v5
Piper paper-cup handover — 79 curated episodes
Task: Pick up the paper cup with the gripper, place it in the person’s hand, and then open the gripper.
This LeRobot v2.1 dataset contains 79 episodes, 38,948 data frames and 158 RGB videos at 30 FPS, 640×480. Episode indices are 0–78, with continuous global frame indices 0–38,947. All episodes are in the training split.
Source
Retained episodes
Frames
Current episode indices
piper_handout_v4
21
10,023
0–20… See the full description on the dataset page: https://huggingface.co/datasets/DCC1015/piper_handout_merged_v4_v5.merged_datasetPiper_traffic_light_water_color_merged
Piper Merged LeRobot Dataset
Generated by data/utils/merge_piper_hdf5_lerobot_to_lerobot.py.
Repo id: ZhaoRunyi/Piper_traffic_light_water_color_merged
FPS: 10
Visual backend: video
LeRobot merge mode: copy
State/action order: per arm joint6, gripper01, ee_pos3, ee_rot6d6.
Input paths:
/home/edemlab/challenge_ws/data/ZhaoRunyi/Piper_traffic_light_water_color
/home/edemlab/challenge_ws/data/challenge_hdf5/PourBeaker_Long_color_0627
observation.state and action use identical… See the full description on the dataset page: https://huggingface.co/datasets/ZhaoRunyi/Piper_traffic_light_water_color_merged.foldtowel_mergedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"left_shoulder_pan.pos",
"left_shoulder_lift.pos",
"left_elbow_flex.pos",
"left_wrist_flex.pos",
"left_wrist_roll.pos",
"left_gripper.pos"… See the full description on the dataset page: https://huggingface.co/datasets/CSI-Agent/foldtowel_merged.merge_ffw_sh5_rev1_20260504_27dof_pick_up_a_red_cylinder_and_place_it_on_the_basketThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ffw_sh5_rev1",
"total_episodes": 60,
"total_frames": 15090,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:60"
},
"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/learner1119/merge_ffw_sh5_rev1_20260504_27dof_pick_up_a_red_cylinder_and_place_it_on_the_basket.assemble_box_with_phone_stand0430_mergedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_flexiv_rizon4_rt",
"total_episodes": 207,
"total_frames": 1848306,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:207"
},
"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/Xense/assemble_box_with_phone_stand0430_merged.so101_grab_Gcube_20sec_200ep_merged_102725
so101_grab_Gcube_20sec_200ep_merged_102725
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..
eval_push_green_button_merged
SO-101 push-green-button evaluation rollouts
Merged LeRobot v3 dataset containing 198 single-arm SO-101 evaluation episodes
(52,541 frames at 20 FPS) from 15 source datasets recorded August 25–31, 2026.
All sources share the same state/action schema and front, top, and wrist
camera configuration. The task instruction is normalized to
push the green button.
Success labels
Every source episode has complete per-frame BusyBox state. The episode-level
success column is… See the full description on the dataset page: https://huggingface.co/datasets/villekuosmanen/eval_push_green_button_merged.cadev_real_mergedvariations-merge-test-4
Merged LeRobot Dataset
This dataset was created by merging multiple LeRobot datasets using the LeRobot merge tool.
Source Datasets
This merged dataset combines the following 2 datasets:
jackvial/koch_screwdriver_attach_orange_panel_rse14clean
jackvial/koch_screwdriver_attach_orange_panel_e125
Dataset Statistics
Total Episodes: 139
Total Frames: 26038
Robot Type: koch_screwdriver_follower
FPS: 30
Dataset Structure
meta/info.json:
{… See the full description on the dataset page: https://huggingface.co/datasets/jackvial/variations-merge-test-4.pick_coffee_capsule_mergedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "arx5",
"total_episodes": 770,
"total_frames": 452236,
"total_tasks": 84,
"total_videos": 1540,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:770"
},
"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/villekuosmanen/pick_coffee_capsule_merged.so101_cube_tape_task_mergedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 29,
"total_frames": 10345,
"total_tasks": 1,
"total_videos": 58,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:29"
},
"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/yue1006/so101_cube_tape_task_merged.merged-test-9This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"trossen_subversion": "v1.0",
"robot_type": "trossen_ai_stationary",
"total_episodes": 76,
"total_frames": 33966,
"total_tasks": 2,
"total_videos": 304,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:76"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/anthnykr/merged-test-9.openarm_teleop_udp_d435_merged_20260725_lerobotThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos"… See the full description on the dataset page: https://huggingface.co/datasets/nkmurst/openarm_teleop_udp_d435_merged_20260725_lerobot.record-act-mergedThis 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/Tron-Hayato/record-act-merged.