datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
robotwin_3d
RoboTwin 2.0 — 3D (RGB + Depth)
Bimanual manipulation data from the RoboTwin 2.0 simulator, in LeRobot v2.1 format, with per-camera ground-truth depth alongside RGB.
Tasks
50
Episodes
27,500 (550 per task, contiguous)
Frames
6,183,813
Robot
ALOHA-style bimanual, 14-DoF
Control rate
50 Hz
Cameras
3 (cam_high, cam_left_wrist, cam_right_wrist)
Resolution
240 × 320
Language instructions
1,039,891 unique corpus-wide; 100 entries per episode
Total size… See the full description on the dataset page: https://huggingface.co/datasets/flex-pi/robotwin_3d.libero_mujoco3.3.2_depth
LIBERO with depth (MuJoCo 3.3.2 re-render)
The four standard LIBERO benchmark suites,
re-rendered under MuJoCo 3.3.2 and republished in LeRobot v2.1 format with
per-camera metric depth added alongside the usual RGB. no_noops means idle
frames have been stripped.
Contents
This repo holds four independent LeRobot datasets, one per suite:
suite
episodes
frames
tasks
libero_10_no_noops_lerobot
388
104,160
10
libero_goal_no_noops_lerobot
433
52,895
10… See the full description on the dataset page: https://huggingface.co/datasets/flex-pi/libero_mujoco3.3.2_depth.self_repair_gripper_dagger
self_repair_gripper_dagger
Robot self-repair, DAgger rollouts with operator corrections on the same task as self_repair_gripper_bc.
Real-robot bimanual manipulation data collected on a YAM arm pair, released as part
of the Flex-π project. Stored in LeRobot v2.1 format with synchronized RGB and
metric depth from three cameras.
At a glance
Episodes
2,154
Frames
609,385
Duration
~5.6 h @ 30 fps
Tasks
1
Robot
yam (bimanual)
Cameras
cam_high… See the full description on the dataset page: https://huggingface.co/datasets/flex-pi/self_repair_gripper_dagger.sort_utensils
sort_utensils
Bimanual utensil sorting: pick up a utensil, set it on the pink plate, then place the other utensil in the container.
Real-robot bimanual manipulation data collected on a YAM arm pair, released as part
of the Flex-π project. Stored in LeRobot v2.1 format with synchronized RGB and
metric depth from three cameras.
At a glance
Episodes
152
Frames
128,010
Duration
~1.2 h @ 30 fps
Tasks
1
Robot
yam (bimanual)
Cameras
cam_high… See the full description on the dataset page: https://huggingface.co/datasets/flex-pi/sort_utensils.put_plate_on_the_rack
put_plate_on_the_rack
Pick plates off the table one by one and slot each into a dish rack.
Real-robot bimanual manipulation data collected on a YAM arm pair, released as part
of the Flex-π project. Stored in LeRobot v2.1 format with synchronized RGB and
metric depth from three cameras.
At a glance
Episodes
301
Frames
286,658
Duration
~2.7 h @ 30 fps
Tasks
1
Robot
yam (bimanual)
Cameras
cam_high, cam_left_wrist, cam_right_wrist
RGB
640×360… See the full description on the dataset page: https://huggingface.co/datasets/flex-pi/put_plate_on_the_rack.soft_bag_zipping
soft_bag_zipping
Deformable-object manipulation: unzip a soft bag, insert pens one at a time, then zip the bag closed.
Real-robot bimanual manipulation data collected on a YAM arm pair, released as part
of the Flex-π project. Stored in LeRobot v2.1 format with synchronized RGB and
metric depth from three cameras.
At a glance
Episodes
534
Frames
1,047,427
Duration
~9.7 h @ 30 fps
Tasks
1
Robot
yam (bimanual)
Cameras
cam_high, cam_left_wrist… See the full description on the dataset page: https://huggingface.co/datasets/flex-pi/soft_bag_zipping.kitchen_organization
kitchen_organization
Multi-task kitchen tidying (3 tasks): placing plates, cups and spoons onto a dish rack, including a hand-to-hand pass.
Real-robot bimanual manipulation data collected on a YAM arm pair, released as part
of the Flex-π project. Stored in LeRobot v2.1 format with synchronized RGB and
metric depth from three cameras.
At a glance
Episodes
248
Frames
146,025
Duration
~1.4 h @ 30 fps
Tasks
3
Robot
yam (bimanual)
Cameras… See the full description on the dataset page: https://huggingface.co/datasets/flex-pi/kitchen_organization.self_repair_gripper_bc
self_repair_gripper_bc
Robot self-repair, human teleoperation (BC): install a gripper into an empty holder, drive a screw with a screwdriver, then clear the table.
Real-robot bimanual manipulation data collected on a YAM arm pair, released as part
of the Flex-π project. Stored in LeRobot v2.1 format with synchronized RGB and
metric depth from three cameras.
At a glance
Episodes
802
Frames
1,278,804
Duration
~11.8 h @ 30 fps
Tasks
1
Robot
yam… See the full description on the dataset page: https://huggingface.co/datasets/flex-pi/self_repair_gripper_bc.sharpa-cylinder-rotation
Sharpa rotate dataset (format v1)
In-hand cylinder rotation trajectories collected in FlexPhysics with a frozen
SharpaWave ProprioAdapt policy. Each NPZ is one episode.
Repository layout and Hub preview
This repository contains eight cylinder-scale subsets: scale_0.400,
scale_0.429, scale_0.457, scale_0.486, scale_0.514, scale_0.543,
scale_0.571, and scale_0.600. Each currently contains 128 episode NPZs
(1,024 episodes in total). Folder names round the exact… See the full description on the dataset page: https://huggingface.co/datasets/FlexPhysics/sharpa-cylinder-rotation.real_single_flexiv_tactar_kineteachstack-cubes-flexiv-0801This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_flexiv_rizon4_rt",
"total_episodes": 170,
"total_frames": 891288,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:170"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/Xense/stack-cubes-flexiv-0801.plug_outlet_flexiv_0701real_single_flexiv_tactar_july05_imperfectreal_single_flexiv_tactar_flipboxlift_bottle_flexiv_0626_127episodesFlexBenchflexa-pour1-v3This is a FiftyOne dataset with 1 sample.
Installation
If you haven't already, install FiftyOne:
pip install -U fiftyone
Usage
import fiftyone as fo
from fiftyone.utils.huggingface import load_from_hub
# Load the dataset
# Note: other available arguments include 'max_samples', etc
dataset = load_from_hub("Voxel51/flexa-pour1-v3")
# Launch the App
session = fo.launch_app(dataset)
Dataset Card for flexa-pour1 (FiftyOne, v3.0 conversion)
The… See the full description on the dataset page: https://huggingface.co/datasets/harpreetsahota/flexa-pour1-v3.plug_outlet_flexiv_0621FlexiActThis repository contains the training data presented in FlexiAct: Towards Flexible Action Control in Heterogeneous Scenarios.
Code: https://github.com/shiyi-zh0408/FlexiAct
Project page: https://shiyi-zh0408.github.io/projectpages/FlexiAct/
real_single_flexiv_tactar_july07_playdataflexa-pour1
flexa-pour1
H1 humanoid + Shadow Hand replay of pouring task from iPhone egocentric capture.
Pipeline
iPhone rear camera (Record3D .r3d) → HaMeR 2D hand detection + MANO pose → Record3D LiDAR depth fusion → 3D wrist trajectories → Jacobian IK for H1 arms → DexMV finger retargeting → MuJoCo replay → LeRobot export
Data
Robot: Unitree H1 + Shadow Hand (48 DOF: 10 arm + 38 finger)
Task: Pouring
Episodes: 1
Frames: 294
FPS: 30
Format: LeRobot v2.1 (Parquet + MP4)… See the full description on the dataset page: https://huggingface.co/datasets/FlexaTechnologies/flexa-pour1.demo-plate-flex-washer-full-1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"trossen_subversion": "v1.0",
"robot_type": "trossen_ai_solo",
"total_episodes": 10,
"total_frames": 7187,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:10"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/andysigler/demo-plate-flex-washer-full-1.pick_and_place
Pick-and-place dataset (format v1)
Robot pick-and-place trajectories collected with a scripted task-space expert and joint-space PD control. Each NPZ is one episode. The current release contains one UR10 with Robotiq-85 dataset: 32 valid episodes, 32 successful episodes, and 32 rendered videos.
Repository layout and Hub preview
README.md
robots/<robot_id>/
README.md
metadata.json # Collection configuration, schema, ordering, and units… See the full description on the dataset page: https://huggingface.co/datasets/FlexPhysics/pick_and_place.real_dual_flexiv_tactar_june23flexiv_spacemousebi_flexiv_rt_pick_and_placeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_flexiv_rizon4_rt",
"total_episodes": 3,
"total_frames": 981,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:3"
},
"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/xensedyl/bi_flexiv_rt_pick_and_place.flexiv_build_block_rolloutflexa-stack2
flexa-stack2
H1 humanoid + Shadow Hand replay of bimanual book stacking from iPhone egocentric capture.
Pipeline
iPhone rear camera (Record3D .r3d) → HaMeR 2D hand detection + MANO pose → Record3D LiDAR depth fusion → 3D wrist trajectories → Jacobian IK for H1 arms → DexMV finger retargeting → MuJoCo replay → LeRobot export
Data
Robot: Unitree H1 + Shadow Hand (48 DOF: 10 arm + 38 finger)
Task: Bimanual book stacking
Episodes: 1
Frames: 476
FPS: 30
Format:… See the full description on the dataset page: https://huggingface.co/datasets/FlexaTechnologies/flexa-stack2.demo-plate-flex-washer-full-2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"trossen_subversion": "v1.0",
"robot_type": "trossen_ai_solo",
"total_episodes": 1,
"total_frames": 197,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:1"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/andysigler/demo-plate-flex-washer-full-2.grab_flexiv_one_cube_1