datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
nero-move-allThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"tcp.x",
"tcp.y",
"tcp.z",
"tcp.r1",
"tcp.r2",
"tcp.r3",
"tcp.r4",
"tcp.r5",
"tcp.r6",
"gripper.pos"… See the full description on the dataset page: https://huggingface.co/datasets/zjushine/nero-move-all.nero-allThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"tcp.x",
"tcp.y",
"tcp.z",
"tcp.r1",
"tcp.r2",
"tcp.r3",
"tcp.r4",
"tcp.r5",
"tcp.r6",
"gripper.pos"… See the full description on the dataset page: https://huggingface.co/datasets/zjushine/nero-all.nero_bag_box
nero_bag_box — dual-arm bag/box manipulation (LeRobot v2.0)
Teleoperated demonstrations on the AgileX NERO dual-arm rig (two 7-DoF
S-R-S arms), collected with a Pico 4 WebXR teleop rig and cut into
single-task clips. Ready for π0.5 / openpi-style fine-tuning.
Tasks
Put the bag into the box
Pour the bag out of the box
Features
key
shape
notes
observation.state
float32[16]
left joint1–7 (rad), left gripper (0–1, measured), right joint1–7… See the full description on the dataset page: https://huggingface.co/datasets/NoahWeiss/nero_bag_box.nero_demo_real_v3so101-nerds-combined-v2This dataset was created using LeRobot.
580 episodes: 534 Genesis sim episodes plus the 46 real SO-101 teleop episodes from shane1027/so101-nerds-teleop-real, merged for sim-to-real training.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 580,
"total_frames": 298256,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps":… See the full description on the dataset page: https://huggingface.co/datasets/shane1027/so101-nerds-combined-v2.grab-single-nerds-clusterThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 16,
"total_frames": 7567,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:16"
},
"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/shane1027/grab-single-nerds-cluster.neroso101-nerds-teleop-realThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 47,
"total_frames": 18757,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:47"
},
"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/shane1027/so101-nerds-teleop-real.nero_demo_real_v4so101-nerds-sim-v2This dataset was created using LeRobot.
534 scripted-expert episodes generated in Genesis (single Nerds gummy cluster -> portafilter basket). Scene appearance is matched to the real rig by towel channel ratios, and the wrist roll is pinned to the human teleop convention.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 534,
"total_frames": 280050,
"total_tasks": 1,
"chunks_size": 1000… See the full description on the dataset page: https://huggingface.co/datasets/shane1027/so101-nerds-sim-v2.synthengine-cot-edge-case-v1
SynthEngine CoT Edge Case Dataset v1.0
Premium synthetic Chain-of-Thought reasoning data for autonomous driving, robotics, and embodied AI edge cases.
🔗 Full dataset (1000 records) available on Gumroad
This HuggingFace repo contains a free sample (10 records) under CC BY-NC-SA 4.0.
🎯 Why This Dataset?
In 2025, NVIDIA Alpamayo-R1 proved that Chain-of-Causation reasoning improves autonomous driving planning accuracy by +12% and reduces close encounters by -35%.… See the full description on the dataset page: https://huggingface.co/datasets/NeroSeungSan/synthengine-cot-edge-case-v1.nero_pick2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "nero_follower",
"total_episodes": 36,
"total_frames": 19971,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:36"
},
"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/yuhangSu/nero_pick2.nero_demo_realmobile_bimanual_blue_block_handover_1_v30_15dnero_demo_real_v2nero_press_buttoneval_grab-single-nerds-clusterThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 14,
"total_frames": 9427,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:14"
},
"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/shane1027/eval_grab-single-nerds-cluster.nero_egg_adv_pi05_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_nero_follower",
"total_episodes": 122,
"total_frames": 613123,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:122"
},
"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/ming326/nero_egg_adv_pi05_v2.test4This dataset was created using LeRobot.js which is based on the LeRobot project
Dataset Structure
meta/info.json:
{"version":"2.1","total_episodes":3,"total_frames":292,"fps":30,"data_path":"data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet","video_path":"videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4","features":{"action":{"dtype":"float32","shape":[6],"names":["main_shoulder_pan","main_shoulder_lift","main_elbow_flex"… See the full description on the dataset page: https://huggingface.co/datasets/NERDDISCO/test4.bimanual_blue_block_handover_21_v30_15dThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 20,
"total_frames": 18410,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:20"
},
"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/neryotw/bimanual_blue_block_handover_21_v30_15d.mimic_mobile_bimanual_drift_v2_v30_15deval_act_neroThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "nero_follower",
"total_episodes": 6,
"total_frames": 2805,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:6"
},
"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/yuhangSu/eval_act_nero.bimanual_blue_block_handover_2_v30_15dThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 30,
"total_frames": 18613,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:30"
},
"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/neryotw/bimanual_blue_block_handover_2_v30_15d.nero_cube_demoeval_smolvla_neroThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "nero_follower",
"total_episodes": 2,
"total_frames": 2618,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:2"
},
"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/yuhangSu/eval_smolvla_nero.NEREIDA-2023test3This dataset was created using LeRobot.js which is based on the LeRobot project
Dataset Structure
meta/info.json:
{"version":"2.1","name":"lerobot_dataset_2025-09-11","robot":"unknown","cameras":["front_camera"],"action_space":"joint_position","frame_rate":30,"num_episodes":2,"created_by":"lerobot.js","created_at":"2025-09-11T08:56:15.619Z"}
bimanual_blue_block_handover_1_v30_15dThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 25,
"total_frames": 15177,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:25"
},
"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/neryotw/bimanual_blue_block_handover_1_v30_15d.bimanual_blue_block_handover_3_v30_15dThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 20,
"total_frames": 12391,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:20"
},
"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/neryotw/bimanual_blue_block_handover_3_v30_15d.bimanual_blue_block_handover_18_v30_15dThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 20,
"total_frames": 22588,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:20"
},
"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/neryotw/bimanual_blue_block_handover_18_v30_15d.