datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
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.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.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.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.eval_diffusion-cloth-LR-asyncThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 15,
"total_frames": 23605,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:15"
},
"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/open-cloth/eval_diffusion-cloth-LR-async.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.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.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.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.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.eval_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.eval_turn-h-wrench-to-left-hard-diffusion-new-5090This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 20,
"total_frames": 36010,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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/7alexzhang7/eval_turn-h-wrench-to-left-hard-diffusion-new-5090.rollout_diffusion_move_blue_cube_red_area_20260825_195527This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"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/Ishaan-codes11/rollout_diffusion_move_blue_cube_red_area_20260825_195527.Dora-diffusion-resultseval_diffusion_so101_testThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 10,
"total_frames": 2078,
"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/cruiseliu/eval_diffusion_so101_test.rollout_diffusion_move_blue_cube_red_area_20260824_222638This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"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/Ishaan-codes11/rollout_diffusion_move_blue_cube_red_area_20260824_222638.eval_diffusion_stacking_cups_1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 20,
"total_frames": 11207,
"total_tasks": 1,
"total_videos": 40,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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/kantine/eval_diffusion_stacking_cups_1.eval_lx7r_diffusion_pickup_modelThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "multi_robot",
"total_episodes": 1,
"total_frames": 639,
"total_tasks": 1,
"total_videos": 2,
"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/arclabmit/eval_lx7r_diffusion_pickup_model.eval_diffusion_soldering_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 10,
"total_frames": 3826,
"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/kantine/eval_diffusion_soldering_2.eval_turn_quarter-lever-to-left-hard-diffusion-newThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 21,
"total_frames": 25873,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:21"
},
"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/7alexzhang7/eval_turn_quarter-lever-to-left-hard-diffusion-new.eval_diffusion_10fThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100_follower",
"total_episodes": 7,
"total_frames": 4127,
"total_tasks": 1,
"total_videos": 7,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:7"
},
"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/U-RIL/eval_diffusion_10f.eval_diffusion_fft_real_1_stack_bowls_filtered_fixed
eval_diffusion_fft_real_1_stack_bowls_filtered
Task: "Pick up the lego block."
Type: evaluation (filtered)
Robot: Franka FR3
Cameras: observation.images.primary, observation.images.wrist (video, 256x256) @ 15 FPS
Statistics
Metric
Value
Episodes
10
Total frames
3094
Avg frames/episode
309
FPS
15
Format
LeRobot v3.0
Features
Feature
Type
Shape
observation.images.primary
video
[256, 256, 3]
observation.images.wrist
video
[256… See the full description on the dataset page: https://huggingface.co/datasets/continuallearning/eval_diffusion_fft_real_1_stack_bowls_filtered_fixed.ffw_sg2_rev1_0526_diffusion_Test_a2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ffw_sg2_rev1",
"total_episodes": 10,
"total_frames": 6007,
"total_tasks": 1,
"total_videos": 30,
"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/HSJUSER/ffw_sg2_rev1_0526_diffusion_Test_a2.DiffusionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"… See the full description on the dataset page: https://huggingface.co/datasets/AnonymousMouse404/Diffusion.eval_diffusion_bimanual-so101-fold-towel-v3_60-v4_20-v5_20-080000This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so100_follower",
"total_episodes": 11,
"total_frames": 4919,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:11"
},
"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/humjie/eval_diffusion_bimanual-so101-fold-towel-v3_60-v4_20-v5_20-080000.diffusion_67This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "lekiwi_client",
"total_episodes": 185,
"total_frames": 96288,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:185"},
"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/wiscohumanoids/diffusion_67.ffw_sg2_rev1_0526_diffusion_Test_a1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ffw_sg2_rev1",
"total_episodes": 9,
"total_frames": 5405,
"total_tasks": 1,
"total_videos": 27,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:9"
},
"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/HSJUSER/ffw_sg2_rev1_0526_diffusion_Test_a1.bottle_task_aug_29_lerobot_diffusionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "",
"total_episodes": 61,
"total_frames": 19872,
"total_tasks": 1,
"total_videos": 183,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:61"
},
"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/gauravpradeep/bottle_task_aug_29_lerobot_diffusion.fll_diffusion_batch_07This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 15,
"total_frames": 5171,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:15"
},
"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/fanaustinca/fll_diffusion_batch_07.