datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
AVGen-Bench
AVGen-Bench Generated Videos Data Card
Overview
This data card describes the generated audio-video outputs stored directly in the repository root by model directory.
The collection is intended for benchmarking and qualitative/quantitative evaluation of text-to-audio-video (T2AV) systems. It was presented in the paper AVGen-Bench: A Task-Driven Benchmark for Multi-Granular Evaluation of Text-to-Audio-Video Generation. It is not a training dataset. Each item is a… See the full description on the dataset page: https://huggingface.co/datasets/microsoft/AVGen-Bench.microduck-emotions
Microduck Emotions
A collection of emotions for the Microduck robot. Each one is a motion and a sound designed together, beat by
beat, with the beak opening on the sound, rendered in the physics simulation and validated on the real robot. Every
emotion is three files: the motion (emotions/<name>.json, keyframes at 30 fps: head and body offsets played on
top of whichever trained policy is active, plus the policy hand-overs, such as the sit that devastated and play dead
start)… See the full description on the dataset page: https://huggingface.co/datasets/pollen-robotics/microduck-emotions.AgiBotWorld-Beta_G1_task_515_Heat_food_in_a_microwave_oven
agibot_task_515
This dataset converts the AgiBot format uniformly into LeRobot V3.0.
Dataset Statistics
robot_name: G1
end_effector: 夹爪
task: 用微波炉加热食物。
total_episodes: 1676
total_tasks: 1
size: 113G
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_515_Heat_food_in_a_microwave_oven.R1_Lite_open_and_close_microwave_oven
R1_Lite_open_and_close_microwave_oven
📋 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
restaurant
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
push
pull
pressbutton… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/R1_Lite_open_and_close_microwave_oven.BusyBox
BusyBox Dataset
Description
The BusyBox dataset is a collection of language-annotated demonstration trajectories for various tasks from the BusyBox benchmark. It has flavors collected
on
Trossen Aloha Mobile and I2RT YAM Box robots. Data from all embodiments is in the LeRobot
format and comprises several hours of teleoperated demonstrations for the following BusyBox tasks:
Setting sliders to specified positions
Pulling out and inserting wires with barrel… See the full description on the dataset page: https://huggingface.co/datasets/microsoft/BusyBox.MuseVLA-dataset
MuseVLA Dataset
Multi-modal robot manipulation dataset with synchronized RGB, depth, acoustic,
thermal, and radar streams. Released as two parts (dataset_01/,
dataset_02/) sharing the same per-episode layout. Together they cover
~1400 episodes across 11 instructions (towel / clothes / box / item / drink
manipulation).
Per-episode contents
{episode_name}/
├── video.mp4 # RGB, 1280×720, 30 fps
├── mask/video.mp4 #… See the full description on the dataset page: https://huggingface.co/datasets/microsoft/MuseVLA-dataset.TemporalBench
Dataset Card
Dataset is released now!
[Project Page] [arXiv] [code] [Leaderboard]
TemporalBench is a video understanding benchmark designed to evaluate fine-grained temporal reasoning for multimodal video models. It consists of ∼10K video question-answer pairs sourced from ∼2K high-quality human-annotated video captions, capturing detailed temporal dynamics and actions.
Dataset Sources
Paper: TemporalBench: Benchmarking Fine-Grained Temporal Understanding for… See the full description on the dataset page: https://huggingface.co/datasets/microsoft/TemporalBench.alpha_bot_2_operate_the_microwave_oven
alpha_bot_2_operate_the_microwave_oven
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: alpha_bot_2
| 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:
pullapart
pushtogether
turn
📊 Dataset Statistics… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/alpha_bot_2_operate_the_microwave_oven.AgiBotWorld-Beta_G1_task_463_Clean_the_microwave_and_range_hood
agibot_task_463
This dataset converts the AgiBot format uniformly into LeRobot V3.0.
Dataset Statistics
robot_name: G1
end_effector: 夹爪
task: 清洁微波炉和抽油烟机。
total_episodes: 1780
total_tasks: 1
size: 57G
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_463_Clean_the_microwave_and_range_hood.microduck-e2e-strands-robotsroboeval-data-for-rhoagibot-sim-heat-the-food-in-the-microwaveThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "a2d",
"total_episodes": 75,
"total_frames": 172716,
"total_tasks": 1,
"total_videos": 225,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30.0,
"splits": {
"train": "0:75"
},
"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/bot-pi/agibot-sim-heat-the-food-in-the-microwave.microscope_pipette_2026-09-02This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"action": {
"dtype": "float32",
"names": [
"joint_1.pos",
"joint_2.pos",
"joint_3.pos",
"joint_4.pos",
"joint_5.pos",
"joint_6.pos",
"precision.state"
],
"shape": [… See the full description on the dataset page: https://huggingface.co/datasets/AdamAxelrod/microscope_pipette_2026-09-02.microscope_pipette_2026-09-10This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"action": {
"dtype": "float32",
"names": [
"joint_1.pos",
"joint_2.pos",
"joint_3.pos",
"joint_4.pos",
"joint_5.pos",
"joint_6.pos",
"precision.state"
],
"shape": [… See the full description on the dataset page: https://huggingface.co/datasets/AdamAxelrod/microscope_pipette_2026-09-10.open_microwave_25_08_21_lerobotv2.1Micro-World-MC-DatasetMicro-World is an interactive world model developed by AMD. We leverage the Minecraft API MineDojo to collect game data, as it enables us to obtain diverse biomes as well as varying weather and lighting conditions—properties that are desirable for improving generalization to real-world scenarios.
For the action space, we record keyboard controls including W (forward), A (left), S (backward), D (right), Ctrl (sprint), Shift (sneak), Space (jump), along with mouse movement. By randomly sampling… See the full description on the dataset page: https://huggingface.co/datasets/amd/Micro-World-MC-Dataset.close_microwave_25_08_21_lerobotv2.1libero-data-for-rhomicrostructures-crystallization-chemical-reactions-sample
Chemical Microscopy Sample Dataset for Evaluation — by Mendeln J
Author: Giorgi JaparidzeVersion: 1.0License: Custom, non-redistributable, evaluation-only sample
🧪 Overview
This repository contains a small, representative sample of a larger 10-year archive of high-resolution chemical microscopy experiments.This sample represents only a very small portion of the full archive.
The complete dataset contains several thousand high-resolution RAW microscopy images and… See the full description on the dataset page: https://huggingface.co/datasets/Mendeln-J/microstructures-crystallization-chemical-reactions-sample.alex_microwave_eefportal-rebot-pick-microcontroller
portal-rebot-pick-microcontroller
A LeRobot dataset of a 6-DOF arm picking a
microcontroller and placing it in a box. Episodes were collected by teleoperating a real
robot over the network with LiveKit Portal, using a
human-in-the-loop recording loop that aligns camera frames and joint state into clean,
synchronized trajectories.
Task: Pick the microcontroller and place it in the box
At a glance
Robot
Seeed reBot Arm B601-DM (seeed_b601_dm_follower)… See the full description on the dataset page: https://huggingface.co/datasets/binhpham/portal-rebot-pick-microcontroller.dtwin_g1_microwave_bowlmicroscope_pipetteThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"action": {
"dtype": "float32",
"names": [
"joint_1.pos",
"joint_2.pos",
"joint_3.pos",
"joint_4.pos",
"joint_5.pos",
"joint_6.pos",
"precision.state"
],
"shape": [… See the full description on the dataset page: https://huggingface.co/datasets/AdamAxelrod/microscope_pipette.alex_open_microwave_eeftupperware-microwave
tupperware-microwave
LeRobot v2.1 format dataset for robot manipulation.
Dataset Structure
Episodes: 2 episodes of robot manipulation
Total Frames: 6152 frames
Cameras: 3 camera views per episode
observation.images.base_camera_sensor_image_raw
observation.images.arm1_camera_sensor_image_raw
observation.images.arm2_camera_sensor_image_raw
Robot: Bimanual manipulator with 34 joints
Format: LeRobot v2.1
Usage with LeRobot
from… See the full description on the dataset page: https://huggingface.co/datasets/Sraghvi/tupperware-microwave.openarm-bimanual-open-microwave-sim-iter-2-v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "OpenArm-Bimanual",
"total_episodes": 50,
"total_frames": 13561,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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/crislmfroes/openarm-bimanual-open-microwave-sim-iter-2-v2.robocasa_microwavearena_gr1_microwave_partialThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "GR1",
"total_episodes": 50,
"total_frames": 4928,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"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/nvkartik/arena_gr1_microwave_partial.microduck-video-artifactsagilex_put_orange_into_microwaveThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "arx5_bimanual",
"total_episodes": 20,
"total_frames": 15310,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 25,
"splits": {
"train": "0:20"
},
"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/villekuosmanen/agilex_put_orange_into_microwave.