datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
so101-can-butler
SO-101 Can Butler
Teleoperated demonstrations of a human-triggered can handover on a low-cost SO-101 arm: the robot stays still until a person's hand appears on the mat, then reaches, grasps a can, and hands it over.
A SmolVLA fine-tune on this data — 20k steps, about $2.30 of rented RTX 4090 — grasped and delivered the can autonomously, verified 3 times out of 3 attempts. Model: espejelomar/smolvla-so101-can-butler.
What it looks like
A policy trained on… See the full description on the dataset page: https://huggingface.co/datasets/espejelomar/so101-can-butler.esp32-arm-test2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"base.pos",
"shoulder.pos",
"elbow.pos",
"wrist.pos",
"gripper.pos"
],
"shape": [
5
]
},
"observation.state": {… See the full description on the dataset page: https://huggingface.co/datasets/hieu24/esp32-arm-test2.yam-espressoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "yam_follower",
"total_episodes": 91,
"total_frames": 72048,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:91"
},
"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/robots123/yam-espresso.aloha_sim_transfer_cube_espadaThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 6600,
"total_tasks": 1,
"total_videos": 50,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:50"
},
"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/J-joon/aloha_sim_transfer_cube_espada.aloha_sim_insertion_espadaThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 11350,
"total_tasks": 1,
"total_videos": 50,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{episode_chunk:03d}/file-{episode_chunk:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/J-joon/aloha_sim_insertion_espada.VidTouch
VidTouch
VidTouch is a specimen-level visuo-tactile benchmark for material understanding
and material knowledge discovery. It links repeated RGB observations and DIGIT
tactile videos of the same physical fabric to four semantic axes:
weave;
ordered material composition;
usage;
functional features.
We purchased 144 physical fabric swatches and independently acquired all released RGB images and tactile videos.
We used the supplier descriptions as source records. As they were… See the full description on the dataset page: https://huggingface.co/datasets/AQUILA-espresso/VidTouch.cell1_20260513_electronics-packing_esp-cable-2bb-jumpersmf-ff-dcy-dc_unpackingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "starpilot_yam_gripper",
"total_episodes": 8,
"total_frames": 14466,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:8"
},
"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/starpilot-ai/cell1_20260513_electronics-packing_esp-cable-2bb-jumpersmf-ff-dcy-dc_unpacking.cell1_20260512_electronics-packing_esp-cable-2servoblue-bb-jumpersff-mm-prototypeboarThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "starpilot_yam_gripper",
"total_episodes": 5,
"total_frames": 15396,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:5"
},
"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/starpilot-ai/cell1_20260512_electronics-packing_esp-cable-2servoblue-bb-jumpersff-mm-prototypeboar.espada_aloha_insertionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 200,
"total_frames": 50337,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 50,
"splits": {
"train": "0:200"
},
"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/J-joon/espada_aloha_insertion.espada_aloha_cubeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 200,
"total_frames": 36569,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 50,
"splits": {
"train": "0:200"
},
"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/J-joon/espada_aloha_cube.cleaning-purp-cube-20-hard-espThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "lekiwi_client",
"total_episodes": 25,
"total_frames": 11250,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:25"
},
"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/jomell310/cleaning-purp-cube-20-hard-esp.cleaning-purp-cube-45-espThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "lekiwi_client",
"total_episodes": 45,
"total_frames": 20250,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:45"
},
"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/jomell310/cleaning-purp-cube-45-esp.record-testThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 10,
"total_frames": 8575,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"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/espressobot/record-test.foam_block_recordThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 25,
"total_frames": 16762,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:25"
},
"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/espressobot/foam_block_record.espresso_sample_05-29T23-04This dataset was created using LeRobot.
See DETAILS.md for structural metadata and encoding notes (visible only after access is granted).