datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
G1_WBT_Inspire_Put_Clothes_into_Washing_Machine
Data Structure
Observations
observation.state.ee_state (12)
End-effector states of the robot.
Computed via forward kinematics (FK) from the root link to the left and right end-effectors.
Includes the contribution of the waist.
Represented as concatenated poses of both end-effectors.
observation.state.hand_state (12 or 2)
Finger states for both hands. The dimensionality depends on the hand type.
Inspire Hand (range: 0.0 – 1.0, open → close)… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_WBT_Inspire_Put_Clothes_into_Washing_Machine.AgiBotWorld-Beta_G1_task_369_Take_the_clothes_out_of_the_washing_machine
agibot_task_369
This dataset converts the AgiBot format uniformly into LeRobot V3.0.
Dataset Statistics
robot_name: G1
end_effector: 夹爪
task: 把衣服从洗衣机里拿出来
total_episodes: 1127
total_tasks: 1
size: 87G
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├── info.json
│ ├── stats.json
│ └── tasks.parquet
└── videos
├──… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_369_Take_the_clothes_out_of_the_washing_machine.G1_WBT_Dex1_Put_Clothes_into_Washing_Machine
Data Structure
Observations
observation.state.ee_state (12)
End-effector states of the robot.
Computed via forward kinematics (FK) from the root link to the left and right end-effectors.
Includes the contribution of the waist.
Represented as concatenated poses of both end-effectors.
observation.state.hand_state (12 or 2)
Finger states for both hands. The dimensionality depends on the hand type.
Inspire Hand (range: 0.0 – 1.0, open → close)… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine.G1_WBT_Inspire_Put_Clothes_into_Washing_Machine_MainCamOnly
Data Structure
Observations
observation.state.ee_state (12)
End-effector states of the robot.
Computed via forward kinematics (FK) from the root link to the left and right end-effectors.
Includes the contribution of the waist.
Represented as concatenated poses of both end-effectors.
observation.state.hand_state (12 or 2)
Finger states for both hands. The dimensionality depends on the hand type.
Inspire Hand (range: 0.0 – 1.0, open → close)… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_WBT_Inspire_Put_Clothes_into_Washing_Machine_MainCamOnly.R1_Lite_take_clothes_out_of_the_washing_machine
R1_Lite_take_clothes_out_of_the_washing_machine
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: galaxea_r1_lite
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics
Metric
Value… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/R1_Lite_take_clothes_out_of_the_washing_machine.AgiBotWorld-Beta_G1_task_431_Boil_coffee_with_a_capsule_machine
agibot_task_431
This dataset converts the AgiBot format uniformly into LeRobot V3.0.
Dataset Statistics
robot_name: G1
end_effector: 夹爪
task: 用胶囊机煮咖啡
total_episodes: 674
total_tasks: 1
size: 35G
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├── info.json
│ ├── stats.json
│ └── tasks.parquet
└── videos
├── observation.images.back_left_fisheye… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_431_Boil_coffee_with_a_capsule_machine.G1_WBT_Brainco_Put_Clothes_Into_Washing_MachineAgiBotWorld-Beta_G1_task_465_Wash_clothes_in_a_washing_machine
agibot_task_465
This dataset converts the AgiBot format uniformly into LeRobot V3.0.
Dataset Statistics
robot_name: G1
end_effector: 夹爪
task: 用洗衣机洗衣服。
total_episodes: 615
total_tasks: 1
size: 69G
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├── info.json
│ ├── stats.json
│ └── tasks.parquet
└── videos
├── observation.images.back_left_fisheye… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_465_Wash_clothes_in_a_washing_machine.AgiBotWorld-Beta_G1_task_434_Take_out_the_capsules_from_the_coffee_machine
agibot_task_434
This dataset converts the AgiBot format uniformly into LeRobot V3.0.
Dataset Statistics
robot_name: G1
end_effector: 夹爪
task: 从咖啡机中取出胶囊。
total_episodes: 483
total_tasks: 1
size: 21G
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├── info.json
│ ├── stats.json
│ └── tasks.parquet
└── videos
├──… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_434_Take_out_the_capsules_from_the_coffee_machine.batch_indexing_machine_raw_dataopen_washing_machine_25_08_21_lerobotv2.1real_machine_data10-27-2025-exo_002-pick-black-cube-1761627649-umi2lr-1761627649-umi2lrThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 3,
"total_frames": 14838,
"total_tasks": 1,
"total_videos": 6,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 60,
"splits": {
"train": "0:3"
},
"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/Frontier-Machines/10-27-2025-exo_002-pick-black-cube-1761627649-umi2lr-1761627649-umi2lr.bring_clean_cup_to_coffee_machine_003pick-cubeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 6,
"total_frames": 45520,
"total_tasks": 1,
"total_videos": 12,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 60,
"splits": {
"train": "0:6"},
"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/Frontier-Machines/pick-cube.10-28-2025-exo_002-pick-cube-rand-1761688520-umi2lr-1761688520-umi2lrThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 3,
"total_frames": 15844,
"total_tasks": 1,
"total_videos": 6,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 60,
"splits": {
"train": "0:3"
},
"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/Frontier-Machines/10-28-2025-exo_002-pick-cube-rand-1761688520-umi2lr-1761688520-umi2lr.so101_state_machine_variationsso101_state_machine_variations_300bring_clean_cup_to_coffee_machine_001activate_coffee_machine_001so-101-load-coffee-machine-1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 50,
"total_frames": 34742,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:50"
},
"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/apaszynska/so-101-load-coffee-machine-1.place_new_pod_in_machine_002place_new_pod_in_machine_001robomind_benchmark1_0_release_franka_3rgb_place_in_bread_in_bread_machine
benchmark1_0_release_franka_3rgb_place_in_bread_in_bread_machine
This dataset converts the Robomain format uniformly into LeRobot V3.0.
Dataset Statistics
本体: franka_3rgb
末端执行器: 夹爪
任务平台显示版: 将面包放入面包机
total_episodes: 101
total_tasks: 1
size: 573.6M
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── images
│ └── observation.images.camera_top
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├──… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/robomind_benchmark1_0_release_franka_3rgb_place_in_bread_in_bread_machine.robomind_benchmark1_0_release_franka_3rgb_twist_knob_start_bread_machine
benchmark1_0_release_franka_3rgb_twist_knob_start_bread_machine
This dataset converts the Robomain format uniformly into LeRobot V3.0.
Dataset Statistics
本体: franka_3rgb
末端执行器: 夹爪
任务平台显示版: 扭动旋钮启动面包机
total_episodes: 99
total_tasks: 1
size: 393.9M
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── images
│ └── observation.images.camera_top
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├──… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/robomind_benchmark1_0_release_franka_3rgb_twist_knob_start_bread_machine.piper-claw-machine-224G1_WBT_Inspire_Put_Clothes_into_Washing_Machine_MainCamOnly
Data Structure
Observations
observation.state.ee_state (12)
End-effector states of the robot.
Computed via forward kinematics (FK) from the root link to the left and right end-effectors.
Includes the contribution of the waist.
Represented as concatenated poses of both end-effectors.
observation.state.hand_state (12 or 2)
Finger states for both hands. The dimensionality depends on the hand type.
Inspire Hand (range: 0.0 – 1.0, open → close)… See the full description on the dataset page: https://huggingface.co/datasets/yiminghub/G1_WBT_Inspire_Put_Clothes_into_Washing_Machine_MainCamOnly.robomind_benchmark1_0_release_tienkung_xsens_1rgb_push_bewak_pick_machine_place_plate
benchmark1_0_release_tienkung_xsens_1rgb_push_bewak_pick_machine_place_plate
This dataset converts the Robomain format uniformly into LeRobot V3.0.
Dataset Statistics
本体: tienkung_xsens
末端执行器: 夹爪
任务平台显示版: 推动手臂拿起机器放置盘子
total_episodes: 82
total_tasks: 1
size: 676.2M
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── images
│ └── observation.images.camera_top
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └──… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/robomind_benchmark1_0_release_tienkung_xsens_1rgb_push_bewak_pick_machine_place_plate.bring_clean_cup_to_coffee_machine_002bring_clean_cup_to_coffee_machineThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 3,
"total_frames": 1480,
"total_tasks": 1,
"total_videos": 9,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:3"
},
"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/damienD13/bring_clean_cup_to_coffee_machine.