datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
BotFails
BotFails: A Multimodal Dataset for Robotic Failure Detection
Overview
BotFails is a novel dataset specifically designed to support research on general failure detection in robotic manipulation. Addressing the scarcity of publicly available benchmarks in this domain, BotFails provides multimodal observations — including vision, proprioception, and natural language task instructions — collected across a semantically diverse set of manipulation scenarios.
Data collection was… See the full description on the dataset page: https://huggingface.co/datasets/kantine/BotFails.Cobot_Magic_twist_bottle_cap
Cobot_Magic_twist_bottle_cap
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: agilex_cobot_decoupled_magic
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
twist
📊 Dataset Statistics… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/Cobot_Magic_twist_bottle_cap.mind-games-dataBOTtelegramnaaseh1-bottle-holder-calib-090326This 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_yaw.pos",
"wrist_roll.pos",
"gripper.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/naaseh1-bottle-holder-calib-090326.alpha_bot_2_recover_after_touching_an_obstacle
alpha_bot_2_recover_after_touching_an_obstacle
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: alpha_bot_2
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
pick
grasp
📊 Dataset Statistics… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/alpha_bot_2_recover_after_touching_an_obstacle.AgiBotWorld-Beta_G1_task_707_twist_the_bottle_cap
agibot_task_707
This dataset converts the AgiBot format uniformly into LeRobot V3.0.
Dataset Statistics
robot_name: G1
end_effector: 夹爪
task: 拧瓶盖
total_episodes: 1157
total_tasks: 1
size: 65G
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├── info.json
│ ├── stats.json
│ └── tasks.parquet
└── videos
├── observation.images.back_left_fisheye… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_707_twist_the_bottle_cap.Cobot_Magic_pour_water_bottle
Cobot_Magic_pour_water_bottle
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: agilex_cobot_decoupled_magic
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
kitchen
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
pour
place
📊 Dataset… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/Cobot_Magic_pour_water_bottle.AgiBotWorld-Beta_G1_task_392_Brush_water_bottle
agibot_task_392
This dataset converts the AgiBot format uniformly into LeRobot V3.0.
Dataset Statistics
robot_name: G1
end_effector: 夹爪
task: 刷子水瓶
total_episodes: 977
total_tasks: 1
size: 143G
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├── info.json
│ ├── stats.json
│ └── tasks.parquet
└── videos
├── observation.images.back_left_fisheye… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_392_Brush_water_bottle.alpha_bot_2_move_the_table
alpha_bot_2_move_the_table
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: alpha_bot_2
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics
Metric
Value… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/alpha_bot_2_move_the_table.alpha_bot_2_carry_the_clothes_basket
alpha_bot_2_carry_the_clothes_basket
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: alpha_bot_2
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics
Metric… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/alpha_bot_2_carry_the_clothes_basket.gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-5
Grab-Bottle (right hand) - zero-wandering, smoothing half-width 5
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task, curated to
remove non-purposeful arm motion ("wandering") so a trained policy does not learn
unstable behavior. Derived from the
105-episode source teleoperation set
by running the kinematic zero-wandering pipeline at smoothing half-width 5;
each surviving clean sub-segment is emitted as its own episode (no action chunk ever
spans a cut).
This is… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-5.alpha_bot_2_sticker
alpha_bot_2_sticker
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: alpha_bot_2
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
place
pick
📊 Dataset Statistics
Metric
Value
Total… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/alpha_bot_2_sticker.alpha_bot_2_item_reversal
alpha_bot_2_item_reversal
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: alpha_bot_2
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
place
pick
📊 Dataset Statistics
Metric
Value… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/alpha_bot_2_item_reversal.alpha_bot_2_stack_building_blocks
alpha_bot_2_stack_building_blocks
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: alpha_bot_2
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics
Metric… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/alpha_bot_2_stack_building_blocks.gr00t-g1-grab-bottle-right-hand-speedup-3mm-v1
Grab-Bottle (right hand) - DP-resampled, 3 mm/frame wrist target
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. Merges two
teleoperation datasets and applies Dynamic Programming (DP) resampling on the
right-wrist XYZ trajectory to normalise the action density across all episodes. It is
the training data for the
v7 GR00T N1.7 fine-tune
a speedup-resampling reference baseline (trained 2026-06-25, checkpoint-20000
only).
The key idea: instead of keeping… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-speedup-3mm-v1.gr00t-g1-grab-bottle-right-hand-105ep-v1
GR00T G1 Grab-Bottle — right hand, 105 episodes (source teleoperation set)
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. This is the
base source teleoperation set of the grab-bottle lineage — 105 episodes of
real-robot demonstration, manually cleaned at the episode level (bad runs discarded),
with no automated frame-level curation applied.
It is the dataset the curated variants are derived from: the
zero-wandering-smooth-radius-{5,10,15,20} sets and the… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-105ep-v1.Cobot_Magic_water_bottle_storage
Cobot_Magic_water_bottle_storage
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: agilex_cobot_decoupled_magic
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
open
close
📊 Dataset… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/Cobot_Magic_water_bottle_storage.xtac-umi-g1-bottle-to-cup
Representative frames from TacVerse's bimanual
demonstrations.
Collected with XTac-UMI-G1 grippers, released as LeRobot
datasets.
This dataset was created using LeRobot.
Explore this dataset with the LeRobot Dataset Viewer.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "xtac_umi_g1",
"total_episodes": 10,
"total_frames": 19314,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100… See the full description on the dataset page: https://huggingface.co/datasets/TacVerse/xtac-umi-g1-bottle-to-cup.alpha_bot_2_pass_the_sandbag
alpha_bot_2_pass_the_sandbag
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: alpha_bot_2
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics
Metric
Value… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/alpha_bot_2_pass_the_sandbag.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.AIRBOT_MMK2_medicine_bottle_storage
AIRBOT_MMK2_medicine_bottle_storage
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: discover_robotics_aitbot_mmk2
| Codebase Version: v2.1
End-Effector Type: five_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AIRBOT_MMK2_medicine_bottle_storage.AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle
AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: discover_robotics_aitbot_mmk2
| Codebase Version: v2.1
End-Effector Type: five_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle.gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-15
Grab-Bottle (right hand) - zero-wandering, smoothing half-width 15
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task, curated to
remove non-purposeful arm motion ("wandering") so a trained policy does not learn
unstable behavior. Derived from the
105-episode source teleoperation set
by running the kinematic zero-wandering pipeline at smoothing half-width 15;
each surviving clean sub-segment is emitted as its own episode (no action chunk ever
spans a cut).
This… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-15.mind-games-demos
Mind Games — Demos
Gameplay demonstrations for the mind-games project.
Lunar Lander
200 episodes of LunarLander-v3 (Gymnasium) collected with a heuristic PD-controller expert.
Format: H.264 video (84×84) + NumPy observation arrays + JSON metadata per episode
Size: ~35MB
Mean reward: ~170 (expert heuristic averages ~163)
Structure: lunar_lander/episode_NNNN/ with frames.mp4, observations.npy, metadata.json
Index: lunar_lander/index.json with per-episode reward and step… See the full description on the dataset page: https://huggingface.co/datasets/mad-bot/mind-games-demos.open_bottle_noforce_v3gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-10
Grab-Bottle (right hand) - zero-wandering, smoothing half-width 10
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task, curated to
remove non-purposeful arm motion ("wandering") so a trained policy does not learn
unstable behavior. Derived from the
105-episode source teleoperation set
by running the kinematic zero-wandering pipeline at smoothing half-width 10;
each surviving clean sub-segment is emitted as its own episode (no action chunk ever
spans a cut).
This… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-zero-wandering-smooth-radius-10.gr00t-g1-grab-bottle-right-hand-speedup-3mm-cycle-removed-v1
Grab-Bottle (right hand) - DP-resampled 3 mm/frame + cycle removal
LeRobot v2.1 dataset for the Unitree G1 right-hand bottle-grab task. Extends the
DP-resampled variant
by automatically detecting and removing return cycles in wrist-space - segments where
the arm travels away from a point and then returns to (approximately) the same position.
Such cycles teach the policy to backtrack rather than commit to a goal-directed motion.
No fine-tune has been produced from this variant… See the full description on the dataset page: https://huggingface.co/datasets/cloudwalk-research/gr00t-g1-grab-bottle-right-hand-speedup-3mm-cycle-removed-v1.open_bottle_noforce_cleanAIRBOT_MMK2_screw_the_bottle_cap
AIRBOT_MMK2_screw_the_bottle_cap
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: discover_robotics_aitbot_mmk2
| Codebase Version: v2.1
End-Effector Type: five_finger_hand
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AIRBOT_MMK2_screw_the_bottle_cap.