datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
groot_n1.7_inference_on_diff_data
GROOT Inference Analysis Log
Evaluation records for a GR00T policy trained on the task
"pick octopus and place inside brown basket", run on a Unitree G1 at 20 Hz
with the ego_view stereo camera.
Six training checkpoints (50, 100, 150, 200, 250, 300 demonstration episodes) were each
evaluated on 50 inference episodes. Every episode is recorded here with video,
per-tick state/action logs and run metadata.
Success rate
Checkpoint (training episodes)
Success… See the full description on the dataset page: https://huggingface.co/datasets/rahul-ai-01/groot_n1.7_inference_on_diff_data.DiffusionGS
[ICCV 2025] DiffusionGS: Baking Gaussian Splatting into Diffusion Denoiser for Fast and Scalable Single-stage Image-to-3D Generation and Reconstruction
Data Description
These are the demo results of our ICCV 2025 paper.
HuggingFace Model Link
We also release our models in HuggingFace:
https://huggingface.co/CaiYuanhao/DiffusionGS
Here are some video generation results demo:
· (a) Object-level Generation… See the full description on the dataset page: https://huggingface.co/datasets/CaiYuanhao/DiffusionGS.egocentric-kitchen-sample
Diffraction Egocentric Kitchen Capture Sample
A small, inspectable sample of human kitchen manipulation captured with Stray Scanner on a LiDAR-equipped iPhone: native RGB, metric depth and confidence, per-frame camera calibration, device odometry, raw device IMU, and explicitly estimated hand/object annotations.
Human observation sample. License: cc-by-4.0. This sample contains 3 recordings totaling 167.85 seconds. It is an observation dataset for evaluating human-video… See the full description on the dataset page: https://huggingface.co/datasets/diffracting/egocentric-kitchen-sample.diffusers_readme_imagesmodular-diffusers-blogegocentric-maintenance-sample
Diffraction Egocentric Maintenance Sample
Chest-mounted iPhone video of hands-on appliance maintenance: tape removal, brushing, panel handling and wiping recessed surfaces. 6 curated excerpts complement Diffraction's RGB-D kitchen sample with a different task domain.
This is human RGB observation data for evaluating video-language, temporal action understanding and hand/object interaction workflows. Depth, metric camera calibration/pose, IMU, robot commands and… See the full description on the dataset page: https://huggingface.co/datasets/diffracting/egocentric-maintenance-sample.BFD_diff_tasksThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "mcx",
"total_episodes": 10,
"total_frames": 8756,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:10"
},
"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/antwoor/BFD_diff_tasks.eval1_mix_orig93_booster55_difficult30x2_h264This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 15,
"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/robot-learning-group47/eval1_mix_orig93_booster55_difficult30x2_h264.WRM_grasp_cylinder_different_sizes_lero_recollectThis dataset was created using LeRobot.
Dataset Description
Recollected RealMan WRM grasp-cylinder-different-sizes demonstrations with synchronized 16-bit Beaver tactile maps.
Homepage: [More Information Needed]
Paper: [More Information Needed]
License: apache-2.0
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "realman",
"total_episodes": 125,
"total_frames": 40596,
"total_tasks": 1,
"chunks_size":… See the full description on the dataset page: https://huggingface.co/datasets/IXDLI/WRM_grasp_cylinder_different_sizes_lero_recollect.lewam_eval_pnpt_diffusion_wideThis dataset was created using LeRobot.
Dataset Description
Real-robot evaluation rollouts recorded on a Rebot B601 7-DoF arm, from the LeWAM
project. Every episode here is a policy rollout on the physical robot — not a
teleoperated demonstration — scored by a human operator immediately after it ran.
Task: pick-and-place (b601_pnpt): the arm picks a roll of tape and places it on a target. Trained on ehalicki/b601_pusht_pick_and_place.
Policy: a LeRobot Diffusion Policy… See the full description on the dataset page: https://huggingface.co/datasets/ehalicki/lewam_eval_pnpt_diffusion_wide.so101_diffusion_datasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 1,
"total_frames": 584,
"total_tasks": 1,
"total_videos": 3,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1"
},
"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/kkee123h/so101_diffusion_dataset.reactive_diffusion_policy_dataset
Dataset of Reactive Diffusion Policy
Contents
Description
Structure
Usage
Tactile Dataset
Description
This is the raw and postprocessed dataset used in the paper
Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation.
Paper
Project Homepage
GitHub Repository
Pretrained Models
Structure
We offer two versions of the dataset:
one is the full dataset used to train the models in our paper,
and the other… See the full description on the dataset page: https://huggingface.co/datasets/WendiChen/reactive_diffusion_policy_dataset.grab_brush_diff_bin_orientThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 40,
"total_frames": 35726,
"total_tasks": 1,
"total_videos": 40,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:40"
},
"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/guanfengliu/grab_brush_diff_bin_orient.grab_brush_diff_bin_orient2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 80,
"total_frames": 95162,
"total_tasks": 1,
"total_videos": 80,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:80"
},
"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/guanfengliu/grab_brush_diff_bin_orient2.eye_rolling
Eye Rolling Image-video dataset
containing pairs of face images with corresponding video of the person rolling their eyes
images were downloaded from Unsplash
videos were created using LivePortrait
DIFFUSION-DDIM16_100eps_Selection_Nuts_Bolt_Aug_10_inf-recordingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 60,
"total_frames": 77648,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:60"
},
"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/CatGoesMeow/DIFFUSION-DDIM16_100eps_Selection_Nuts_Bolt_Aug_10_inf-recording.agilex_pick_the_different_diceThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "arx5_bimanual",
"total_episodes": 19,
"total_frames": 13036,
"total_tasks": 1,
"total_videos": 57,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 25,
"splits": {
"train": "0:19"
},
"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_pick_the_different_dice.lewam_eval_pusht_diffusion_wideThis dataset was created using LeRobot.
Dataset Description
Real-robot evaluation rollouts recorded on a Rebot B601 7-DoF arm, from the LeWAM
project. Every episode here is a policy rollout on the physical robot — not a
teleoperated demonstration — scored by a human operator immediately after it ran.
Task: non-prehensile PushT (b601_pusht): the arm pushes a T-shaped block into a target pose without grasping it. Shares only its name with the simulated PushT. Trained on… See the full description on the dataset page: https://huggingface.co/datasets/ehalicki/lewam_eval_pusht_diffusion_wide.diffuman4d_example
Diffuman4D Example Test Data
Project Page | Paper | Code | Model
This repo provides several example scenes for testing Diffuman4D. Note that these scenes are not part of the official DNA-Rendering dataset. For more testing (and training) data, see this repo.
Usage
See the GitHub repo for detailed usage.
Cite
@inproceedings{jin2025diffuman4d,
title={Diffuman4D: 4D Consistent Human View Synthesis from Sparse-View Videos with Spatio-Temporal Diffusion Models}… See the full description on the dataset page: https://huggingface.co/datasets/krahets/diffuman4d_example.eval_so101_single_tasks_diffusionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 20,
"total_frames": 32606,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:20"
},
"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/msmandelbrot/eval_so101_single_tasks_diffusion.4c_differential_cameras_compareThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "koch_follower",
"total_episodes": 5,
"total_frames": 1791,
"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/ethanCSL/4c_differential_cameras_compare.Push_the_object_to_the_different_goal
Push_the_object_to_the_different_goal
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..
PushT_96ep_DiffusionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 206,
"total_frames": 25650,
"total_tasks": 1,
"total_videos": 206,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:206"
},
"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/Beable/PushT_96ep_Diffusion.WRM_grasp_cylinder_different_sizes_lero_recollect_grayThis dataset was created using LeRobot.
Dataset Description
Gray-object recollection of RealMan WRM grasp-cylinder-different-sizes demonstrations with synchronized 16-bit Beaver tactile maps.
Homepage: [More Information Needed]
Paper: [More Information Needed]
License: apache-2.0
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "realman",
"total_episodes": 125,
"total_frames": 40655,
"total_tasks": 1… See the full description on the dataset page: https://huggingface.co/datasets/IXDLI/WRM_grasp_cylinder_different_sizes_lero_recollect_gray.eval_diffusion-v2-augThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos"… See the full description on the dataset page: https://huggingface.co/datasets/open-cloth/eval_diffusion-v2-aug.WRM_grasp_cylinder_different_sizes_lero_recollect_gray_tightnessThis dataset was created using LeRobot.
Dataset Description
Gray-object recollection of RealMan WRM grasp-cylinder-different-sizes demonstrations with synchronized 16-bit Beaver tactile maps and per-frame tightness labels (125/125 episodes annotated).
Homepage: [More Information Needed]
Paper: [More Information Needed]
License: apache-2.0
Dataset Structure
meta/info.json:
{
"chunks_size": 1000,
"codebase_version": "v3.0"… See the full description on the dataset page: https://huggingface.co/datasets/IXDLI/WRM_grasp_cylinder_different_sizes_lero_recollect_gray_tightness.so100_test_diffusion_graspThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 25,
"total_frames": 11353,
"total_tasks": 1,
"total_videos": 50,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:25"
},
"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/Thorns07/so100_test_diffusion_grasp.UR5_RTDE_SpaceMouse_EE_pick_and_place_object_DifficultThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ur5_rtde",
"total_episodes": 140,
"total_frames": 43568,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:140"
},
"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/ases200q2/UR5_RTDE_SpaceMouse_EE_pick_and_place_object_Difficult.slice_banana_franka_diffik.jointtarget_15hz_nominal_scripted_20260918eval_diffusion_UR5e_Gello_Cube_bin_v5_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5e_gello",
"total_episodes": 10,
"total_frames": 7872,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:10"
},
"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/Arururu12/eval_diffusion_UR5e_Gello_Cube_bin_v5_v2.