datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
datagen-stack-v1-joint-5cam
datagen-stack-v1-joint-5cam
Auto-generated SFT dataset for the stack_retrieve family — cuRobo-planned, physics- &
LTL-safety-checked demos, converted to LeRobot v2.1.
Creator: yypeng666 (IDEAS-Lab-Northwestern)
Source bench: IDEAS-Lab-Northwestern/ManiGuard-Bench — all 28 stack_retrieve base tasks.
Per task: 40 success + LTL-safe trajectories → 1120 episodes.
Contents
Episodes
1120 (28 base tasks × 40)
Frames
2,652,083
Unique language tasks
8… See the full description on the dataset page: https://huggingface.co/datasets/IDEAS-Lab-Northwestern/datagen-stack-v1-joint-5cam.datagen-cabinet-v1-joint-5cam
datagen-cabinet-v1-joint-5cam
Auto-generated SFT dataset for the cabinet drawer pick-and-place family — cuRobo-planned, physics- &
LTL-safety-checked demos, converted to LeRobot v2.1.
Creator: yypeng666 (IDEAS-Lab-Northwestern)
Source bench: IDEAS-Lab-Northwestern/ManiGuard-Bench — all 35 cabinet_pickup base tasks.
Per task: 40 success + LTL-safe trajectories → 1400 episodes.
Contents
Episodes
1400 (35 base tasks × 40)
Frames
4,172,962
Unique… See the full description on the dataset page: https://huggingface.co/datasets/IDEAS-Lab-Northwestern/datagen-cabinet-v1-joint-5cam.jointavbench
JointAVBench: A Benchmark for Joint Audio-Visual Reasoning Evaluation
Overview
JointAVBench is a benchmark for evaluating omni-modal large language models on joint audio-visual reasoning tasks. Each multiple-choice question is designed to require both visual and auditory information.
This repository contains the audited release of JointAVBench under the roverx12345 namespace. The benchmark keeps the original 2,853-question split while refining answer… See the full description on the dataset page: https://huggingface.co/datasets/roverx12345/jointavbench.datagen-lid-v1-joint-5cam
datagen-lid-v1-joint-5cam
Auto-generated SFT dataset for the lid_transport family (place a lid on a container, then
transport the lidded container into the goal region) - cuRobo-planned, physics- & LTL-safety-checked
demos, converted to LeRobot v2.1.
Creator: yypeng666 (IDEAS-Lab-Northwestern)
Source bench: IDEAS-Lab-Northwestern/ManiGuard-Bench - all 30 lid_transport base tasks.
Per task: 40 success + LTL-safe trajectories -> 1200 episodes.
Contents… See the full description on the dataset page: https://huggingface.co/datasets/IDEAS-Lab-Northwestern/datagen-lid-v1-joint-5cam.datagen-jar-v1-joint-5cam
datagen-jar-v1-joint-5cam
Auto-generated SFT dataset for the jar_transport family (close an articulated hinged jar's lid,
then side-grasp the closed jar and carry it to a goal region) — cuRobo-planned, physics- &
LTL-safety-checked demos, converted to LeRobot v2.1.
Creator: yypeng666 (IDEAS-Lab-Northwestern)
Source bench: IDEAS-Lab-Northwestern/ManiGuard-Bench — all 26 jar_transport base tasks.
Per task: 40 success + LTL-safe trajectories → 1040 episodes.
Contents… See the full description on the dataset page: https://huggingface.co/datasets/IDEAS-Lab-Northwestern/datagen-jar-v1-joint-5cam.datagen-dusty-v1-joint-5cam
datagen-dusty-v1-joint-5cam
Auto-generated SFT dataset for the dusty_transfer family (wipe a dusty container clean with a
sponge, then transfer a target object into it) — cuRobo-planned, physics- & LTL-safety-checked demos,
converted to LeRobot v2.1.
Creator: yypeng666 (IDEAS-Lab-Northwestern)
Source bench: IDEAS-Lab-Northwestern/ManiGuard-Bench — all 26 dusty_transfer base tasks.
Per task: 40 success + LTL-safe trajectories -> 1040 episodes.
Contents… See the full description on the dataset page: https://huggingface.co/datasets/IDEAS-Lab-Northwestern/datagen-dusty-v1-joint-5cam.datagen-clutter-v1-joint-5cam
datagen-clutter-v1-joint-5cam
Auto-generated SFT dataset for the clutter (pick-out-of-clutter → place-in-goal) family — a
cuRobo-planned, physics- & LTL-safety-checked demonstration set, already converted to LeRobot v2.1.
Creator: yypeng666 (IDEAS-Lab-Northwestern)
Source bench: IDEAS-Lab-Northwestern/ManiGuard-Bench — collected on all 55 clutter_pickup base tasks.
Per task: 40 success + LTL-safe trajectories → 2,200 episodes total.
Contents… See the full description on the dataset page: https://huggingface.co/datasets/IDEAS-Lab-Northwestern/datagen-clutter-v1-joint-5cam.piper-apple-picking-1m-joints
Piper Apple Picking (Isaac Sim) — 1M frames — joint-space state
LeRobot v3 dataset: an AgileX Piper 6-DOF arm harvesting apples into a bucket,
collected in Isaac Lab / Isaac Sim with a cuRobo motion planner.
This is the joint-space variant of
Faless/piper-apple-picking-1m:
identical episodes/videos, but observation.state is reduced to 8 dims (no
end-effector pose) for policies that act purely in joint space.
Episodes: 1,056
Frames: 1,024,754
FPS: 30
Robot: piper_full
Cameras:… See the full description on the dataset page: https://huggingface.co/datasets/Faless/piper-apple-picking-1m-joints.joint-assemblehil_pi05_joints_100kThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 50,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
10
],
"names": [
"j1.pos",
"j2.pos",
"j3.pos",
"j4.pos",
"j5.pos",
"j6.pos",
"gripper.pos"… See the full description on the dataset page: https://huggingface.co/datasets/maskjp/hil_pi05_joints_100k.Joint-VisualCoT
Joint VisualCoT
Joint evidence SFT on Visual-CoT document pages. One assistant target:
{"bboxes_2d": [[x1,y1,x2,y2], ...], "selected_sentences": ["..."], "score_img": 0.0, "score_text": 0.0}
Boxes are integer xyxy in [0, 1000]. Images are not in this repo; resolve image under Visual-CoT cot_image_data/{image}
(deepcs233/Visual-CoT).
Code: Chenfei-Liao/MMProvenceChenfei.
Paper protocol
Image-level no-leak: Stage2 test images never enter Stage1 train (splits/image_splits.json).… See the full description on the dataset page: https://huggingface.co/datasets/Chenfei-Liao/Joint-VisualCoT.ww_dataset_abs_joint_delta_jointThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5",
"total_episodes": 200,
"total_frames": 29373,
"total_tasks": 2,
"total_videos": 400,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:200"
},
"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/pmoller/ww_dataset_abs_joint_delta_joint.ROS2SmolVLA_ur10e_no_joints_crop_pick_placeThis is the training dataset for our ROS2SmolVLA project
It was recorded by teleoperation of our UR10e lightweight industrial robot through our ROS2SmolVLA setup utilizing LeRobot.
The action space is:
"linear_x.vel",
"linear_y.vel",
"linear_z.vel",
"angular_x.vel",
"angular_y.vel",
"angular_z.vel",
"gripper.pos"
The observation space is:
"pose.x",
"pose.y",
"pose.z",
"pose.quat_x",
"pose.quat_y",
"pose.quat_z",
"pose.quat_w"
one 720x720 and two 1280x720 camera streams.… See the full description on the dataset page: https://huggingface.co/datasets/una-auxme/ROS2SmolVLA_ur10e_no_joints_crop_pick_place.dual-lidar-combined-filtered-joint-positions
Combined filtered dual-LiDAR UMI demonstrations
Observation-only LeRobot v3 derivative of brandonyang/dual-lidar-umi, brandonyang/dual-lidar-umi-relative. It contains 157 demonstrations (156492 frames) accepted by the continuous bimanual YAM replayability pipeline.
The 14-D observation.state contains left YAM joints 0–5, normalized left gripper, right YAM joints 0–5, and normalized right gripper. The two original UMI videos, timestamps, frame cadence, and task are preserved;… See the full description on the dataset page: https://huggingface.co/datasets/brandonyang/dual-lidar-combined-filtered-joint-positions.ww_dataset_abs_joint_abs_jointThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5",
"total_episodes": 200,
"total_frames": 29373,
"total_tasks": 2,
"total_videos": 400,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:200"
},
"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/pmoller/ww_dataset_abs_joint_abs_joint.2A2B2C-Dataset-Joints-DeltaRootlogu_bimanual_joint_multi_taskThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 212,
"total_frames": 101703,
"total_tasks": 2,
"total_videos": 636,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:212"
},
"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/gaozj/logu_bimanual_joint_multi_task.ur5e-pick-red-cube-jointsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 103,
"total_frames": 13567,
"total_tasks": 2,
"total_videos": 206,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:103"
},
"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/tlpss/ur5e-pick-red-cube-joints.dual-lidar-combined-filtered-joint-positions-long-gripper
Combined filtered dual-LiDAR UMI demonstrations
Observation-only LeRobot v3 derivative of brandonyang/dual-lidar-umi, brandonyang/dual-lidar-umi-relative. It contains 182 demonstrations (179951 frames) accepted by the continuous bimanual YAM replayability pipeline.
The 14-D observation.state contains left YAM joints 0–5, normalized left gripper, right YAM joints 0–5, and normalized right gripper. The two original UMI videos, timestamps, frame cadence, and task are preserved;… See the full description on the dataset page: https://huggingface.co/datasets/brandonyang/dual-lidar-combined-filtered-joint-positions-long-gripper.rlwrld_pnp_joint_position_task2logu_transfer_bag_bim_joint_v3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 104,
"total_frames": 55994,
"total_tasks": 1,
"total_videos": 312,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:104"
},
"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/gaozj/logu_transfer_bag_bim_joint_v3.piper_joint_ep_20250421_releaseThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "piper",
"total_episodes": 50,
"total_frames": 19911,
"total_tasks": 1,
"total_videos": 150,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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/hangwu/piper_joint_ep_20250421_release.2A2B2C-Dataset-Joints-0A-DeltaRootCartonPickNPlace2Target-raw-jointur5e-pour-cup-jointsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 53,
"total_frames": 20822,
"total_tasks": 1,
"total_videos": 106,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:53"
},
"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/tlpss/ur5e-pour-cup-joints.ww_dataset_abs_joint_delta_eefThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5",
"total_episodes": 200,
"total_frames": 29373,
"total_tasks": 2,
"total_videos": 400,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:200"
},
"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/pmoller/ww_dataset_abs_joint_delta_eef.PlugChargerMani-jointThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
8
],
"names": [
"action_0",
"action_1",
"action_2",
"action_3",
"action_4",
"action_5",
"action_6"… See the full description on the dataset page: https://huggingface.co/datasets/lambdavi/PlugChargerMani-joint.clear_organic_agent_ab_B1000.jointtarget_20hz_20260918This dataset was created using LeRobot.
About this dataset (agent-in-the-loop A/B, arm B, first 1000 verified successes)
Simulated Franka Panda demonstrations of a produce-clearing task (pick every organic item - lemons, a lime, an
orange, a small pumpkin - off a cluttered packing table and drop it into the crate, leaving the distractors),
generated in Isaac Sim by the CoSiGen data-generation pipeline. Every episode is a certified success of the task
grader (all present organics… See the full description on the dataset page: https://huggingface.co/datasets/EmbodiedSWE/clear_organic_agent_ab_B1000.jointtarget_20hz_20260918.rlwrld_pnp_joint_position_task42A2B2C-Dataset-Joints