datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
TextOnly_FromRLBench_CloseBox_24K_unfixedclose_box_ours_10fps
Close Box Ours 10Fps
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Close the box by placing the lid on the box body."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 100 (28,246 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on Isaac Sim 5.1 / IsaacLab… See the full description on the dataset page: https://huggingface.co/datasets/HyeonseokE/close_box_ours_10fps.close_box_ours_phase1_80_10fps
Close Box Ours Phase1 80 10Fps
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Close the box by placing the lid on the box body."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 80 (22,566 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on Isaac Sim 5.1 /… See the full description on the dataset page: https://huggingface.co/datasets/HyeonseokE/close_box_ours_phase1_80_10fps.close_box_1000_25_08_03_lerobotv21close_box_lerobotclose_box_cap_10fpsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 100,
"total_frames": 28349,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"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/HyeonseokE/close_box_cap_10fps.koch_Close_the_box_10_episodes
Dataset: Koch Close the Box - 10 Episodes
OverviewA second set of 10 episodes for the "Close the Box" task, providing additional trials for reproducibility and variance analysis.
Usage
Compare with the first dataset to study task consistency.
Use for training or benchmarking closed-loop control policies.
Notes
Independent from the first 10 episodes (same task, different runs).
Identical data structure to the original "Close the Box" set.
Key Features:… See the full description on the dataset page: https://huggingface.co/datasets/OpenLoong/koch_Close_the_box_10_episodes.close_box_25_08_03_lerobotv21bi-manual-box-close_20260430_231127This 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/masato-ka/bi-manual-box-close_20260430_231127.agilex_close_glasses_boxThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "arx5_bimanual",
"total_episodes": 20,
"total_frames": 2695,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 25,
"splits": {
"train": "0:20"
},
"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/agilex_close_glasses_box.donuts-shop-close-box-dataset-v0This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 30,
"total_frames": 31176,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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/masato-ka/donuts-shop-close-box-dataset-v0.IsaacLab-SO101-Phase1-close_box-80episode
Isaaclab So101 Phase1 Close Box 80Episode
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Close the box by placing the lid on the box body."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 80 (26,740 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on Isaac Sim… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/IsaacLab-SO101-Phase1-close_box-80episode.robomind_benchmark1_0_release_franka_3rgb_close_cap_tool_box
benchmark1_0_release_franka_3rgb_close_cap_tool_box
This dataset converts the Robomain format uniformly into LeRobot V3.0.
Dataset Statistics
本体: franka_3rgb
末端执行器: 夹爪
任务平台显示版: 盖上工具箱盖
total_episodes: 97
total_tasks: 1
size: 381.8M
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── images
│ └── observation.images.camera_top
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├── info.json
│ ├──… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/robomind_benchmark1_0_release_franka_3rgb_close_cap_tool_box.close_box_dataset_5ep_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 5,
"total_frames": 3208,
"total_tasks": 1,
"total_videos": 10,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:5"
},
"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/xchraf/close_box_dataset_5ep_2.IsaacLab-SO101_close_box_baseCaP_300epi
Isaaclab So101 Close Box Basecap 300Epi
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Close the compact cardboard box by placing the handled lid on the body."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 30 fps
Episodes: 300 (302,437 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/IsaacLab-SO101_close_box_baseCaP_300epi.IsaacLab-SO101_close_box_baseCaP_100epi_10fps
CoRL2026-CSI/IsaacLab-SO101_close_box_baseCaP_100epi_10fps
This dataset is derived from CoRL2026-CSI/IsaacLab-SO101_close_box_baseCaP_300epi.
Episodes: 100 (episode_index 0 through 99)
FPS: 10
Source FPS: 30
Downsampling: observations use source frames 0, 3, 6, ...; action columns use source frames 2, 5, 8, ....
Tail policy: source frames without a valid 3k+2 action are dropped.
The dataset follows LeRobot v3.0 format.
IsaacLab-SO101-Phase1PlusPhase2-close_box-100episode-10fps
Isaaclab So101 Phase1Plusphase2 Close Box 100Episode 10Fps
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Close the box by placing the lid on the box body."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 100 (32,912 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)… See the full description on the dataset page: https://huggingface.co/datasets/CoRL2026-CSI/IsaacLab-SO101-Phase1PlusPhase2-close_box-100episode-10fps.franka-gello-close-box-filteredThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "fr3",
"total_episodes": 75,
"total_frames": 9616,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:75"
},
"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/SashoPepi/franka-gello-close-box-filtered.mix__close_box_full__20260621_111812_recomputed_statsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_joint_6.pos",
"right_joint_7.pos"… See the full description on the dataset page: https://huggingface.co/datasets/Anteid11/mix__close_box_full__20260621_111812_recomputed_stats.close_cardboard_boxThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "aloha",
"total_episodes": 100,
"total_frames": 80000,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"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/lyl472324464/close_cardboard_box.IsaacLab-SO101-CloseBox-100epi-10fps-appendix
Isaaclab So101 Closebox 100Epi 10Fps Appendix
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Close the box by placing the lid on the box body."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 100 (33,838 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on… See the full description on the dataset page: https://huggingface.co/datasets/CoRL2026-CSI/IsaacLab-SO101-CloseBox-100epi-10fps-appendix.mix__pick_green_relay5__pick_blue_relay__close_box_full__20260619_102843_recomputed_statsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_joint_6.pos",
"right_joint_7.pos"… See the full description on the dataset page: https://huggingface.co/datasets/Anteid11/mix__pick_green_relay5__pick_blue_relay__close_box_full__20260619_102843_recomputed_stats.part3-open_close_insert_remove_boxThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "hand",
"total_episodes": 1213,
"total_frames": 504075,
"total_tasks": 51,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:1213"
},
"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/gsethia08/part3-open_close_insert_remove_box.air_bag_close_empty_boxThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 80,
"total_frames": 23789,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:80"
},
"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/andrejarden/air_bag_close_empty_box.demo_sorbonne_close_boxThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 3,
"total_frames": 1156,
"total_tasks": 1,
"total_videos": 6,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:3"
},
"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/xchraf/demo_sorbonne_close_box.air_bag_close_full_boxThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 40,
"total_frames": 10172,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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/andrejarden/air_bag_close_full_box.bimanual-close-boxThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 10,
"total_frames": 5236,
"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/andrejarden/bimanual-close-box.close_box_full_recomputed_statsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_joint_6.pos",
"right_joint_7.pos"… See the full description on the dataset page: https://huggingface.co/datasets/Anteid11/close_box_full_recomputed_stats.close_box_3epThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 3,
"total_frames": 1110,
"total_tasks": 1,
"total_videos": 6,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:3"
},
"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/xchraf/close_box_3ep.close_box_fullThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_joint_6.pos",
"right_joint_7.pos"… See the full description on the dataset page: https://huggingface.co/datasets/Anteid11/close_box_full.