datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
Franka-Dataset
AXIS Franka Dataset
The AXIS Franka Dataset is a large-scale robot manipulation dataset collected for research on robot learning, imitation learning, policy training, and embodied AI.
This repository contains the full dataset release for non-commercial academic research and educational use.
Project website: https://axisaiorg.github.io/AXIS-V1/
Code: https://github.com/AxisAIOrg/Axis-V1-Training
Commercial / partnership inquiries: datasets@axisrobotics.ai
Dataset… See the full description on the dataset page: https://huggingface.co/datasets/axisrobotics/Franka-Dataset.axis-ego-samples
Axis Ego Samples
Public egocentric robot manipulation samples from AXIS.
Annotation review — play 101 clips with frame-by-frame language annotations (80,090 segments).
Layout
sample-150h-10cat/ # 10 episodes (one per category) from the 150h abroad delivery corpus
sample-100h-lerobot/ # 100h egodata in LeRobot format
sample-preview/ # small multi-category preview subset
sample-devices/ # short video samples by capture device… See the full description on the dataset page: https://huggingface.co/datasets/axisrobotics/axis-ego-samples.axis-ego-centric-data-industrial-samplesFranka-Datasets-v2-5ksample_dataset
Axis Task 74 Sample Dataset
This repository contains sample data for Task 74 from the Axis Robotics data collection pipeline.
Task Description
Pick up the kettle from the left side of the table and pour its contents into the mug on the right side.
This task is a long-horizon robotic manipulation task involving object grasping, transport, pose control, and pouring behavior.
Overview
This dataset is a small sample release for Task 74. It is intended to illustrate… See the full description on the dataset page: https://huggingface.co/datasets/axisrobotics/sample_dataset.Test-Dataset
AXIS held-out 20 — a cross-embodiment few-shot adaptation benchmark
20 tasks never seen in pretraining, 20 demonstrations each, LoRA adaptation, rollout evaluation.
This release is the SPECIFICATION and the INDEX, not the demonstration data. It is published
first and on purpose: everything here is what you need to render the benchmark on your own
embodiment, and none of it depends on our video encoding being finished.
Status: the task list is CANDIDATES. The learnability gate… See the full description on the dataset page: https://huggingface.co/datasets/axisrobotics/Test-Dataset.20260511_merged_sfp_train_trimmed_filtered_axisangle_droppedkimodo-x-axis-lerobot-top100-v1
Kimodo x-axis LeRobot export top100 v1
LeRobot v2.1-style export from tracker rollouts. Each target color contributes the top 100 episodes by quality score.
episodes: 300
frames: 44700
fps: 50
camera: observation.images.egocentric, 640x360, H.264/yuv420p
state/action: qpos_36 current / next-step qpos_36
See meta/info.json, meta/episodes.jsonl, and selection_summary.json.
test-slam-axis-fixThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "grabette",
"total_episodes": 3,
"total_frames": 1058,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:3"
},
"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/simheo/test-slam-axis-fix.wild-dataeval_groot-ROBOARENA_ONLY_YAW_FINAL-notext_axis_angleThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ergocub",
"total_episodes": 6,
"total_frames": 10650,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 10,
"splits": {
"train": "0:6"
},
"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/ar0s/eval_groot-ROBOARENA_ONLY_YAW_FINAL-notext_axis_angle.v2_delta_axisangleThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 76,
"total_frames": 23669,
"total_tasks": 10,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:76"
},
"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/DAVIAN-Robotics/v2_delta_axisangle.20260511_merged_sfp_train_trimmed_filtered_axisangle20260511_merged_sc_train_trimmed_filtered_axisangle_dropped20260508_092255_all_200_train_filtered_dropped_axisangle_spf20260508_004612_all_200_train_axisangle_clean20260511_merged_sc_train_trimmed_filtered_axisangle20260511_merged_sfp_train_trimmed_filtered_axisangle_dropped_deltaROBOARENA_ONLY_YAW_FINAL_axis_angleThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ergocub",
"total_episodes": 6,
"total_frames": 16407,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 10,
"splits": {
"train": "0:6"
},
"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/ar0s/ROBOARENA_ONLY_YAW_FINAL_axis_angle.20260508_004612_all_200_train_axisangle20260508_092255_all_200_train_filtered_dropped_axisangle20260511_merged_sc_train_trimmed_filtered_axisangle_dropped_delta20260508_004612_all_200_train_axisangle_new20260508_092255_all_200_train_filtered_dropped_axisangle_scaxis_x_2_20260817_134241