datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
libero_mujoco3.3.2_depth
LIBERO with depth (MuJoCo 3.3.2 re-render)
The four standard LIBERO benchmark suites,
re-rendered under MuJoCo 3.3.2 and republished in LeRobot v2.1 format with
per-camera metric depth added alongside the usual RGB. no_noops means idle
frames have been stripped.
Contents
This repo holds four independent LeRobot datasets, one per suite:
suite
episodes
frames
tasks
libero_10_no_noops_lerobot
388
104,160
10
libero_goal_no_noops_lerobot
433
52,895
10… See the full description on the dataset page: https://huggingface.co/datasets/flex-pi/libero_mujoco3.3.2_depth.screw_loose-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 100,
"total_frames": 136834,
"total_tasks": 1,
"total_videos": 300,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:100"
},
"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/autobio-bench/screw_loose-mujoco.mujoco-so101-stack_cubes-joystick-v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_mujoco",
"total_episodes": 43,
"total_frames": 89891,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:43"
},
"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/CarlosMunoz0/mujoco-so101-stack_cubes-joystick-v2.screw_tighten-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 100,
"total_frames": 154830,
"total_tasks": 1,
"total_videos": 300,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:100"
},
"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/autobio-bench/screw_tighten-mujoco.thermal_cycler_close-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "ur5e",
"total_episodes": 100,
"total_frames": 106292,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:100"
},
"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/autobio-bench/thermal_cycler_close-mujoco.pickup-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 100,
"total_frames": 49959,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:100"
},
"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/autobio-bench/pickup-mujoco.libero_mujoco3.3.2
LIBERO MuJoCo 3.3.2 (Preprocessed LeRobot v2.1 Release)
This repository releases our preprocessed LIBERO dataset in LeRobot v2.1 format for the open-source release of Fast-WAM: Do World Action Models Need Test-time Future Imagination?
This is not an official upstream LIBERO data dump. It is our paper-specific processed release prepared to support training, evaluation, and reproducibility for our project.
This Hugging Face repository distributes the dataset as four .tar.gz… See the full description on the dataset page: https://huggingface.co/datasets/Zhanguang/libero_mujoco3.3.2.MuJoCoPickLift-v1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101",
"total_episodes": 10,
"total_frames": 3498,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:10"
},
"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/johnsutor/MuJoCoPickLift-v1.insert-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "ur5e",
"total_episodes": 100,
"total_frames": 55127,
"total_tasks": 10,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:100"
},
"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/autobio-bench/insert-mujoco.thermal_cycler_open-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "ur5e",
"total_episodes": 100,
"total_frames": 84994,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:100"
},
"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/autobio-bench/thermal_cycler_open-mujoco.MujocoUR5eCable
MuJoCo environments
UR5e
MujocoUR5eCableEnv
Task to pass the cable between two poles.
The same data can be downloaded here.
RoboManipBaselines Paper
https://huggingface.co/papers/2509.17057
so101_mujoco_stack_3_blocksThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [… See the full description on the dataset page: https://huggingface.co/datasets/anhquoc29/so101_mujoco_stack_3_blocks.thermal_mixer-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "ur5e",
"total_episodes": 100,
"total_frames": 79278,
"total_tasks": 100,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:100"
},
"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/autobio-bench/thermal_mixer-mujoco.mujoco_walk_to_table_2openarm-2-cell-pick_up_cube_mujoco-lerobot
openarm-2-cell-pick_up_cube_mujoco-lerobot
OpenArm 2 bimanual manipulation demonstrations ("pick up the cube") recorded in a
MuJoCo simulation cell through VR teleoperation, converted to the
LeRobot dataset format with
OpenArm Dataset.
Robot: OpenArm 2, bimanual (2 x 7 DoF + gripper, 16-dim state/action, joint positions)
Environment: MuJoCo simulation, VR teleoperation
Task: Pick up the cube.
Episodes: 30 (splits: train 0:24, val 24:30) — Frames: 5405 @ 30 fps
Cameras:… See the full description on the dataset page: https://huggingface.co/datasets/enactic/openarm-2-cell-pick_up_cube_mujoco-lerobot.insert_centrifuge_5430-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "ur5e",
"total_episodes": 100,
"total_frames": 54329,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:100"
},
"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/autobio-bench/insert_centrifuge_5430-mujoco.push_block_mujocofranka_pick_mujoco_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka_panda",
"total_episodes": 50,
"total_frames": 24403,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"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/Prajith7roboq/franka_pick_mujoco_v2.AutoBio-pipette-mujoco-v30
AutoBio — Aspirate with pipette (MuJoCo, LeRobot v3.0)
Aspirate with pipette (medium level) 태스크의 LeRobot v3.0 변환본입니다.
이 저장소는 원본 데이터를 재배포한 것입니다. 데이터와 시뮬레이션 환경을
만든 것은 AutoBio 저자들이며, 이 저장소는 LeRobot v2.1 → v3.0 포맷 변환만
수행했습니다. 내용(에피소드, 프레임, 액션, 영상)은 원본과 동일합니다.
원본
원본 데이터셋: autobio-bench/pipette-mujoco
코드: autobio-bench/AutoBio
논문: AutoBio: A Simulation and Benchmark for Robotic Automation in Digital Biology Laboratory
라이선스: MIT (원본과 동일)
이 변환본이 원본과 다른 점… See the full description on the dataset page: https://huggingface.co/datasets/kimtaeyeong1229/AutoBio-pipette-mujoco-v30.pipette-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "ur5e",
"total_episodes": 100,
"total_frames": 71014,
"total_tasks": 1,
"total_videos": 300,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:100"
},
"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/autobio-bench/pipette-mujoco.MuJoCoPickAndPlace-v1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101",
"total_episodes": 10,
"total_frames": 4725,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:10"
},
"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/johnsutor/MuJoCoPickAndPlace-v1.AutoBio-thermal_cycler_close-mujoco-v30
AutoBio — Close thermal cycler lid (MuJoCo, LeRobot v3.0)
Close thermal cycler lid (easy level) 태스크의 LeRobot v3.0 변환본입니다.
이 저장소는 원본 데이터를 재배포한 것입니다. 데이터와 시뮬레이션 환경을
만든 것은 AutoBio 저자들이며, 이 저장소는 LeRobot v2.1 → v3.0 포맷 변환만
수행했습니다. 내용(에피소드, 프레임, 액션, 영상)은 원본과 동일합니다.
원본
원본 데이터셋: autobio-bench/thermal_cycler_close-mujoco
코드: autobio-bench/AutoBio
논문: AutoBio: A Simulation and Benchmark for Robotic Automation in Digital Biology Laboratory
라이선스: MIT (원본과 동일)… See the full description on the dataset page: https://huggingface.co/datasets/kimtaeyeong1229/AutoBio-thermal_cycler_close-mujoco-v30.AutoBio-screw_tighten-mujoco-v30
AutoBio — Screw on centrifuge tube cap (MuJoCo, LeRobot v3.0)
Screw on centrifuge tube cap (hard level) 태스크의 LeRobot v3.0 변환본입니다.
이 저장소는 원본 데이터를 재배포한 것입니다. 데이터와 시뮬레이션 환경을
만든 것은 AutoBio 저자들이며, 이 저장소는 LeRobot v2.1 → v3.0 포맷 변환만
수행했습니다. 내용(에피소드, 프레임, 액션, 영상)은 원본과 동일합니다.
원본
원본 데이터셋: autobio-bench/screw_tighten-mujoco
코드: autobio-bench/AutoBio
논문: AutoBio: A Simulation and Benchmark for Robotic Automation in Digital Biology Laboratory
라이선스: MIT (원본과 동일)… See the full description on the dataset page: https://huggingface.co/datasets/kimtaeyeong1229/AutoBio-screw_tighten-mujoco-v30.push_box_mujocoAutoBio-insert-mujoco-v30
AutoBio — Transfer centrifuge tube (MuJoCo, LeRobot v3.0)
Transfer centrifuge tube (medium level) 태스크의 LeRobot v3.0 변환본입니다.
이 저장소는 원본 데이터를 재배포한 것입니다. 데이터와 시뮬레이션 환경을
만든 것은 AutoBio 저자들이며, 이 저장소는 LeRobot v2.1 → v3.0 포맷 변환만
수행했습니다. 내용(에피소드, 프레임, 액션, 영상)은 원본과 동일합니다.
원본
원본 데이터셋: autobio-bench/insert-mujoco
코드: autobio-bench/AutoBio
논문: AutoBio: A Simulation and Benchmark for Robotic Automation in Digital Biology Laboratory
라이선스: MIT (원본과 동일)
이 변환본이 원본과… See the full description on the dataset page: https://huggingface.co/datasets/kimtaeyeong1229/AutoBio-insert-mujoco-v30.so101-pickplace-sim-mujoco
SO-101 Pick & Place Simulation Dataset
MuJoCo シミュレーションで収集した SO-101 ロボットアームの Pick & Place デモデータセット。
LeRobot v2.1 形式。
概要
項目
値
エピソード数
5,000
フレーム総数
2,380,000
制御周波数
50 Hz
カメラ
front (480×640), wrist (480×640)
動画コーデック
libx264
ロボット
SO-101（6-DOF）
タスク
Pick & Place
関節名
['shoulder_pan', 'shoulder_lift', 'elbow_flex', 'wrist_flex', 'wrist_roll', 'gripper']
データ構造
data/chunk-NNN/file-NNN.parquet # フレームデータ（state, action… See the full description on the dataset page: https://huggingface.co/datasets/szk1ck/so101-pickplace-sim-mujoco.svla_so101_mujoco_pickplaceThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_mujoco",
"total_episodes": 61,
"total_frames": 45345,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:61"
},
"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/bendca61/svla_so101_mujoco_pickplace.so101_pick_red_block_sim_mujoco_fllowerThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [… See the full description on the dataset page: https://huggingface.co/datasets/ngocthuong2212/so101_pick_red_block_sim_mujoco_fllower.roboverse-pick_cube-mujocoE100This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
9
],
"names": [
"panda_finger_joint1",
"panda_finger_joint2",
"panda_joint1",
"panda_joint2",
"panda_joint3"… See the full description on the dataset page: https://huggingface.co/datasets/ases200q2/roboverse-pick_cube-mujocoE100.so101_mujoco_follower_7_31This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [… See the full description on the dataset page: https://huggingface.co/datasets/ngocthuong2212/so101_mujoco_follower_7_31.