datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
CoinVE-Bench
CoinVE-Bench
✨ Highlights
Compositional Editing Benchmark: CoinVE-Bench is a benchmark dedicated to compositional (multi-instruction) video editing evaluation, featuring 361 test cases with 2–5 instructions per sample.
Region-Aware Evaluation: Per-instruction masks enable fine-grained checks of whether each edit is confined to the correct region.
Multi-Dimensional Metrics: Comprehensive evaluation across editing accuracy, physical naturalness, and semantic… See the full description on the dataset page: https://huggingface.co/datasets/FireCRT/CoinVE-Bench.FIRe-VLA-PI05-NutThread-Sim
FIRe-VLA-PI05-NutThread-Sim
Demonstration dataset for the Nut threading contact-rich robotic assembly task
(Sim domain), formatted for PI05 training. Part of the FIRe dataset suite.
Framework: PI05
Task: Nut threading (nut_thread)
Domain: Sim
Format: LeRobot
Episodes: 128
Frames: 18944
FPS: 15
Robot: franka_emika_panda
Loading
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("bhe1004/FIRe-VLA-PI05-NutThread-Sim")
FIRe-VLA-GR00T-NutThread-Sim
FIRe-VLA-GR00T-NutThread-Sim
Demonstration dataset for the Nut threading contact-rich robotic assembly task
(Sim domain), formatted for GR00T training. Part of the FIRe dataset suite.
Framework: GR00T
Task: Nut threading (nut_thread)
Domain: Sim
Format: LeRobot
Episodes: 128
Frames: 18944
FPS: 15.0
Robot: franka_emika_panda
Loading
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("bhe1004/FIRe-VLA-GR00T-NutThread-Sim")
fire_actioncam
Fire Actioncam
This dataset is a collection of several real-world fire scenes, introduced by the ECCV paper "Gaussians on Fire: High-Frequency Reconstruction of Flames".
Overview
The dataset consists of 17 real-world scenes of burning paper, cardboard, wood, gasoline, ethanol, and propane. We captured each scene with three regular actioncams, synchronizing them with µs precision using a custom LED pattern.
Property
Value
Scenes
17 (two outdoor… See the full description on the dataset page: https://huggingface.co/datasets/jna-358/fire_actioncam.FIRe-VLA-GR00T-GearMesh-Sim
FIRe-VLA-GR00T-GearMesh-Sim
Demonstration dataset for the Gear meshing contact-rich robotic assembly task
(Sim domain), formatted for GR00T training. Part of the FIRe dataset suite.
Framework: GR00T
Task: Gear meshing (gear_mesh)
Domain: Sim
Format: LeRobot
Episodes: 128
Frames: 18944
FPS: 15.0
Robot: franka_emika_panda
Loading
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("bhe1004/FIRe-VLA-GR00T-GearMesh-Sim")
fire-and-smoke-dataset
Fire Detection Dataset - 85 videos
The dataset comprises 85 videos containing fire and smoke scenes, varying in length and content. Each video frame is annotated with bounding boxes that localize instances of fire and smoke, making it a comprehensive resource for fire monitoring, wildfire detection, and real-time monitoring systems. Designed to support detection systems, deep learning, and model training, this dataset is essential for improving fire management, early detection… See the full description on the dataset page: https://huggingface.co/datasets/UniDataPro/fire-and-smoke-dataset.FIRe-VLA-GR00T-PegInsert-Real
FIRe-VLA-GR00T-PegInsert-Real
Demonstration dataset for the Peg insertion contact-rich robotic assembly task
(Real domain), formatted for GR00T training. Part of the FIRe dataset suite.
Framework: GR00T
Task: Peg insertion (peg_insert)
Domain: Real
Format: LeRobot
Episodes: 30
Frames: 3840
FPS: 15.0
Robot: franka_emika_panda
Loading
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("bhe1004/FIRe-VLA-GR00T-PegInsert-Real")
FIRe-VLA-PI05-GearMesh-Sim
FIRe-VLA-PI05-GearMesh-Sim
Demonstration dataset for the Gear meshing contact-rich robotic assembly task
(Sim domain), formatted for PI05 training. Part of the FIRe dataset suite.
Framework: PI05
Task: Gear meshing (gear_mesh)
Domain: Sim
Format: LeRobot
Episodes: 128
Frames: 18944
FPS: 15
Robot: franka_emika_panda
Loading
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("bhe1004/FIRe-VLA-PI05-GearMesh-Sim")
FIRe-VLA-GR00T-PegInsert-Sim
FIRe-VLA-GR00T-PegInsert-Sim
Demonstration dataset for the Peg insertion contact-rich robotic assembly task
(Sim domain), formatted for GR00T training. Part of the FIRe dataset suite.
Framework: GR00T
Task: Peg insertion (peg_insert)
Domain: Sim
Format: LeRobot
Episodes: 128
Frames: 11264
FPS: 15.0
Robot: franka_emika_panda
Loading
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("bhe1004/FIRe-VLA-GR00T-PegInsert-Sim")
FIRe-VLA-PI05-PegInsert-Sim
FIRe-VLA-PI05-PegInsert-Sim
Demonstration dataset for the Peg insertion contact-rich robotic assembly task
(Sim domain), formatted for PI05 training. Part of the FIRe dataset suite.
Framework: PI05
Task: Peg insertion (peg_insert)
Domain: Sim
Format: LeRobot
Episodes: 128
Frames: 11264
FPS: 15
Robot: franka_emika_panda
Loading
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("bhe1004/FIRe-VLA-PI05-PegInsert-Sim")
FIRe-VLA-PI05-NutThread-Real
FIRe-VLA-PI05-NutThread-Real
Demonstration dataset for the Nut threading contact-rich robotic assembly task
(Real domain), formatted for PI05 training. Part of the FIRe dataset suite.
Framework: PI05
Task: Nut threading (nut_thread)
Domain: Real
Format: LeRobot
Episodes: 33
Frames: 8448
FPS: 15
Robot: franka_emika_panda
Loading
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("bhe1004/FIRe-VLA-PI05-NutThread-Real")
FIRe-VLA-PI05-PegInsert-Real
FIRe-VLA-PI05-PegInsert-Real
Demonstration dataset for the Peg insertion contact-rich robotic assembly task
(Real domain), formatted for PI05 training. Part of the FIRe dataset suite.
Framework: PI05
Task: Peg insertion (peg_insert)
Domain: Real
Format: LeRobot
Episodes: 30
Frames: 3840
FPS: 15
Robot: franka_emika_panda
Loading
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("bhe1004/FIRe-VLA-PI05-PegInsert-Real")
smolvlm2-fire-videosFIRe-VLA-GR00T-GearMesh-Real
FIRe-VLA-GR00T-GearMesh-Real
Demonstration dataset for the Gear meshing contact-rich robotic assembly task
(Real domain), formatted for GR00T training. Part of the FIRe dataset suite.
Framework: GR00T
Task: Gear meshing (gear_mesh)
Domain: Real
Format: LeRobot
Episodes: 31
Frames: 3968
FPS: 15.0
Robot: franka_emika_panda
Loading
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("bhe1004/FIRe-VLA-GR00T-GearMesh-Real")
FIRe-VLA-GR00T-NutThread-Real
FIRe-VLA-GR00T-NutThread-Real
Demonstration dataset for the Nut threading contact-rich robotic assembly task
(Real domain), formatted for GR00T training. Part of the FIRe dataset suite.
Framework: GR00T
Task: Nut threading (nut_thread)
Domain: Real
Format: LeRobot
Episodes: 33
Frames: 8448
FPS: 15.0
Robot: franka_emika_panda
Loading
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("bhe1004/FIRe-VLA-GR00T-NutThread-Real")
mahathi_bottle_pour
mahathi_bottle_pour
The pour phase of firefly1709/mahathi_bottle,
segmented into its own LeRobot v3.0 dataset. Each episode covers the carry and pour (gripper close through peak bottle tilt).
Task
pour from the bottle
Episodes
17
Frames
1415
FPS
15
Robot
franka
Cameras
observation.images.primary, observation.images.wrist (256x256, AV1)
How it was produced
Segment boundaries were marked by hand per episode against the primary and wrist… See the full description on the dataset page: https://huggingface.co/datasets/firefly1709/mahathi_bottle_pour.FIRe-VLA-PI05-GearMesh-Real
FIRe-VLA-PI05-GearMesh-Real
Demonstration dataset for the Gear meshing contact-rich robotic assembly task
(Real domain), formatted for PI05 training. Part of the FIRe dataset suite.
Framework: PI05
Task: Gear meshing (gear_mesh)
Domain: Real
Format: LeRobot
Episodes: 31
Frames: 3968
FPS: 15
Robot: franka_emika_panda
Loading
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("bhe1004/FIRe-VLA-PI05-GearMesh-Real")
pick_pen_give_humanmahathi_bottle_pick
mahathi_bottle_pick
The pick phase of firefly1709/mahathi_bottle,
segmented into its own LeRobot v3.0 dataset. Each episode covers the grasp of the bottle (episode start through gripper close).
Task
pick up the bottle
Episodes
17
Frames
920
FPS
15
Robot
franka
Cameras
observation.images.primary, observation.images.wrist (256x256, AV1)
How it was produced
Segment boundaries were marked by hand per episode against the primary and wrist… See the full description on the dataset page: https://huggingface.co/datasets/firefly1709/mahathi_bottle_pick.OVIBenchTeleop_Policy_7_16_26_April_Robotics_20260716_164007This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"joint_1.pos",
"joint_2.pos",
"joint_3.pos",
"joint_4.pos",
"joint_5.pos",
"joint_6.pos",
"joint_7.pos",
"gripper.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/fireatwill13/Teleop_Policy_7_16_26_April_Robotics_20260716_164007.Policy_Training_OpenArm_April_20260716_175850This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"joint_1.pos",
"joint_2.pos",
"joint_3.pos",
"joint_4.pos",
"joint_5.pos",
"joint_6.pos",
"joint_7.pos",
"gripper.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/fireatwill13/Policy_Training_OpenArm_April_20260716_175850.mahathi_shelf_pickThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 23,
"total_frames": 1367,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:23"
},
"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/firefly1709/mahathi_shelf_pick.mahathi_shelf_placeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 23,
"total_frames": 1644,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:23"
},
"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/firefly1709/mahathi_shelf_place.pick_up_bottle_put_into_cupFireAndEyesmahathi_shelf_2grab_firewood_boxmahathi_shelfpick_cup_to_circle