datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
libero_object_no_noops_1.0.0_lerobotObjaverse-XL-Rigged-Animated-Renders
Objaverse-XL Rigged & Animated — Renders
Visual companion to
Linzhan/Objaverse-XL-Rigged-Animated,
which holds the 7,373 rigged-and-animated GLB assets themselves. This repository holds only what
was rendered from them: a four-view video of every animation clip, and a rest-pose grid per asset.
They live apart from the assets because they are bulky and numerous — 10,355 clip folders — while
the asset repo stays a compact 7,373 GLBs plus two tables. Nothing here is needed to use… See the full description on the dataset page: https://huggingface.co/datasets/Linzhan/Objaverse-XL-Rigged-Animated-Renders.MUOT_3M-A_3_Million_Frame_Underwater_Object_Tracking_Dataset
🌊 MUOT-3M: The Largest Multimodal Underwater Object Tracking Dataset
Official repository for MUOT-3M📄 MUOT-3M: The Largest Multimodal Underwater Object Tracking Dataset and MUTrack Tracking Method
🚀 Overview
MUOT-3M is currently the largest underwater object tracking dataset, containing over 3 million annotated frames across 3,030 underwater videos with synchronized multimodal annotations.
The benchmark is designed to advance research in:
Underwater object tracking… See the full description on the dataset page: https://huggingface.co/datasets/AhsanBB/MUOT_3M-A_3_Million_Frame_Underwater_Object_Tracking_Dataset.fMRI-Objaverse
fMRI-Objaverse
This repository contains fMRI-Objaverse, a comprehensive dataset for fMRI-based 3D reconstruction, as presented in the paper MinD-3D++: Advancing fMRI-Based 3D Reconstruction with High-Quality Textured Mesh Generation and a Comprehensive Dataset.
Project Page: https://jianxgao.github.io/MinD-3D
Code: https://github.com/JianxGao/MinD-3D
Overview
fMRI-Objaverse is an extended dataset for fMRI-Shape. It is part of the larger fMRI-3D dataset, which… See the full description on the dataset page: https://huggingface.co/datasets/Fudan-fMRI/fMRI-Objaverse.Franka_3_objects_2ego-data-by-object
ego-data-by-object
Reorganized copy of angkul07/ego-data, split into per-object folders.
What changed
Source is a flat set of numbered N.mp4 + N.hdf5 pairs.
All episodes are the same task (basic_pick_place, type reset); only the manipulated object varies.
Episodes are grouped into one folder per object, parsed from each hdf5 object attribute (color/shape stripped). Original numeric IDs preserved.
Layout
<object>/<id>.mp4 # egocentric RGB clip… See the full description on the dataset page: https://huggingface.co/datasets/Kavin60606/ego-data-by-object.G1_Dex3_ObjectPlacement_DatasetThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex3_ObjectPlacement_Dataset.PhysicalAI-Robotics-Manipulation-ObjectsPhysicalAI-Robotics-Manipulation-Objects is a dataset of automatic generated motions of robots performing operations such as picking and placing objects in a kitchen environment. The dataset was generated in IsaacSim leveraging reasoning algorithms and optimization-based motion planning to find solutions to the tasks automatically [1, 3]. The dataset includes a bimanual manipulator built with Kinova Gen3 arms. The environments are kitchen scenes where the furniture and appliances were… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Objects.libero_plus_objectgo2_object_approach_v1
Go2 Object Approach v1
Keyboard-teleoperated Unitree Go2 EDU trajectories for the task:
"Approach the target object and stop in a manipulation-ready pose."
The collection contains 202 episodes and 48,889 frames at a nominal 20 Hz
(2,444.45 seconds, approximately 40.74 minutes). Episode lengths range from
109 to 502 frames (5.45–25.10 seconds). Data is stored in LeRobot Dataset v3
with Parquet telemetry and H.264 front-camera video. No audio or depth is included.
This is a… See the full description on the dataset page: https://huggingface.co/datasets/dancher00/go2_object_approach_v1.vica-obj-gtctr-scan-object-uniform50-20260917
IdleMask review — passed (2026-09-19)
Reviewed by the dataset owner: observation.arm_active_mask is correct and this revision is a formally usable CTR dataset. This section supersedes previous active/idle-mask descriptions below.
For each of the 50 episodes and each physical arm, only the initial contiguous scheduling delay may have mask 0. From first duty through the final frame the mask is always 1. Scan synchronization waits, cooperative holds, the shared scan tail and… See the full description on the dataset page: https://huggingface.co/datasets/Shiki42/ctr-scan-object-uniform50-20260917.obj_to_mug_20260915_001612This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/shubhdotai/obj_to_mug_20260915_001612.so101_moving_objectThis dataset was created using my fork of LeRobot.
Joint calibration
Joint calibration for the featured SO-101 is on Github
Dataset Structure
meta/info.json:
so101_stationary_vary_objThis dataset was created using my fork of LeRobot.
Joint calibration
Joint calibration for the featured SO-101 is on Github
Dataset Structure
meta/info.json:
pick-objects-and-place-in-basketobject-sorting-cross-embodiment-rich-modality-sample
Cross-Embodiment Object Sorting — Rich-Modality 20-Episode Inspection Sample
20 episodes total: 10 Franka Panda + 10 WidowXAI. A compact cross-embodiment inspection release for picking up an instructed object and placing it into an instructed target box. Each robot keeps its native LeRobot v2.1 state/action schema in a separate Viewer config. Five synchronized RGB views, metric depth and instance segmentation for every camera, robot state/action, end-effector trajectories… See the full description on the dataset page: https://huggingface.co/datasets/ExylosAi/object-sorting-cross-embodiment-rich-modality-sample.so101_pick_diverse_objects
Dataset Card: SO101 Object Pick-Up Dataset
Overview
This dataset contains object pick-up demonstrations collected using the SO101 robotic arm. It is intended for training robot manipulation policies focused on pick-up tasks across a diverse set of everyday objects.
Dataset Summary
Item
Details
Release Date
April 30, 2026
Number of Objects
~70 objects
Total Duration
~2 hours
Task Type
Object Pick-Up
Robot
SO101
Robot Setup… See the full description on the dataset page: https://huggingface.co/datasets/TakuyaHiraoka/so101_pick_diverse_objects.libero_object_mask_depth_IPEC_COMMUNITY_formatThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 500,
"total_frames": 74507,
"total_tasks": 10,
"total_videos": 4000,
"total_chunks": 0,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:500"
},
"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/binhng/libero_object_mask_depth_IPEC_COMMUNITY_format.Objaverse-XL-Rigged-Animated-Renders
Objaverse-XL Rigged & Animated — Renders
Visual companion to
Linzhan/Objaverse-XL-Rigged-Animated,
which holds the 7,373 rigged-and-animated GLB assets themselves. This repository holds only what
was rendered from them: a four-view video of every animation clip, and a rest-pose grid per asset.
They live apart from the assets because they are bulky and numerous — 10,355 clip folders — while
the asset repo stays a compact 7,373 GLBs plus two tables. Nothing here is needed to use… See the full description on the dataset page: https://huggingface.co/datasets/tanish434/Objaverse-XL-Rigged-Animated-Renders.interactive_objectsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "arx5",
"total_episodes": 48,
"total_frames": 53423,
"total_tasks": 10,
"total_videos": 147,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:48"
},
"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/interactive_objects.object_retrieval-preset-gemini
object_retrieval-preset-gemini
Real-robot teleoperation episodes of the instance_retrieval task on a single-arm Franka Research 3 cell (80 episodes, 36,239 frames at 10 fps,
released as Myungkyu/object_retrieval) with dense high-level labels produced by the TACOR offline annotator:
Gemini 3.7 Flash reads each whole episode as one video clip (one sample every 10 frames = 1.0 s) and labels every sampled frame given only the
subtask preset of the task - the label list below… See the full description on the dataset page: https://huggingface.co/datasets/Myungkyu/object_retrieval-preset-gemini.so100_obj_to_bin_top0_180This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 1,
"total_frames": 872,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1"
},
"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/taxitain/so100_obj_to_bin_top0_180.ctr-scan-object-200ep-sequential
ctr-scan-object-200ep-sequential
200 episodes, 68638 frames, 100 unique scene seeds, LeRobot v3,25FPS.
Episode order / 数据集备注
Episodes 0–99 (the first 100) are left-first; episodes 100–199 (the last 100) are right-first. Each block contains the original50 seeds followed by the E74250 new seeds.
前100条为先左后右，后100条为先右后左；两个100条分组使用相同的100个seed。
Seeds and timing
The complete seed list and per-seed episode/timing mapping are in seed_timing_map.json… See the full description on the dataset page: https://huggingface.co/datasets/Shiki42/ctr-scan-object-200ep-sequential.G1_Dex1_Fetch_Object_Bagso100_obj_to_bin_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 5,
"total_frames": 2902,
"total_tasks": 1,
"total_videos": 10,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:5"
},
"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/taxitain/so100_obj_to_bin_v2.Franka_3_objectsso101-object-in-box_v0.4-fixedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 101,
"total_frames": 22260,
"total_tasks": 1,
"total_videos": 101,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:101"
},
"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/Thytu/so101-object-in-box_v0.4-fixed.dreamlake-hand-object
Hand-object 3D reconstruction demo (TACO top-5)
Five egocentric hand-object manipulation clips with full 3D reconstructions,
exported from the public DreamLake staging annotation
yancy/hand-object-recon3d-top5.
Source recordings are from the TACO dataset
(research use). Video, 2D hand keypoints, MANO hand meshes and object poses
all come from the same clip, so the 3D always matches the pixels.
episode
task
duration
measure-ruler-toy__20231102_058
measure a toy with a… See the full description on the dataset page: https://huggingface.co/datasets/live9080/dreamlake-hand-object.objects_to_bowlThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 122,
"total_frames": 56264,
"total_tasks": 3,
"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/irlxrd/objects_to_bowl.