datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
HDTF
HDTF Dataset for Talking Face Generation
This dataset is a curated and preprocessed version of HDTF (High-Definition Talking Face), prepared for tasks such as talking-head generation, video captioning, and multimodal avatar synthesis.
📁 File Overview
File Name
Description
videos.zip
Original 400 full-length HDTF videos
clips.zip
Videos split into 81-frame clips, each representing a short temporal unit
audios.zip
Audio embeddings extracted from original… See the full description on the dataset page: https://huggingface.co/datasets/global-optima-research/HDTF.optical-module-insertion-0731This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_flexiv_rizon4_rt",
"total_episodes": 151,
"total_frames": 592853,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:151"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/Xense/optical-module-insertion-0731.xtac-umi-g1-insert-optical-module
Representative frames from TacVerse's bimanual
demonstrations.
Collected with XTac-UMI-G1 grippers, released as LeRobot
datasets.
This dataset was created using LeRobot.
Explore this dataset with the LeRobot Dataset Viewer.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "xtac_umi_g1",
"total_episodes": 10,
"total_frames": 17585,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100… See the full description on the dataset page: https://huggingface.co/datasets/TacVerse/xtac-umi-g1-insert-optical-module.4c_optimizationThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "koch_follower",
"total_episodes": 25,
"total_frames": 8494,
"total_tasks": 1,
"total_videos": 50,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:25"
},
"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/ethanCSL/4c_optimization.IROS2026_RAMEN_takada_insert_and_tighten_curated_optimal_success
Curated task 8: insert table leg to table base and rotate leg to tighten
LeRobot v3 segments selected from
BitRobot/G1_WBT_Dex1_Building-Children-Table using
Team-RAMEN/IROS2026_RAMEN_HARA_curation.
Source revision: 4b5961c6f8b97ececa75ee73041b30bcbf463ae2
Curation revision: 7c0a3f8bb7ac8dc6672d1204a32c6531737d7a14
Task ID: 8
Source task sequence: 0 -> 3
Maximum inter-component gap: 0 frame(s)
Accepted verdicts: optimal, success
Episodes (one per matched task sequence): 601… See the full description on the dataset page: https://huggingface.co/datasets/Team-RAMEN/IROS2026_RAMEN_takada_insert_and_tighten_curated_optimal_success.IROS2026_RAMEN_HARA_task_0_optimal_merged_v1lerobot_peg_optical_4cams_0601This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 453,
"total_frames": 275189,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:453"
},
"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/hukewei/lerobot_peg_optical_4cams_0601.robot_arm_optimaltrlc-dk1-demos-optimizedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos"… See the full description on the dataset page: https://huggingface.co/datasets/nikolas-k/trlc-dk1-demos-optimized.MnMs_to_skittles_optimalThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "yam_bimanual",
"total_episodes": 48,
"total_frames": 19331,
"total_tasks": 1,
"total_videos": 144,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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/memmelma/MnMs_to_skittles_optimal.optical_module_expand_0819This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_flexiv_rizon4_rt",
"total_episodes": 29,
"total_frames": 106115,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:29"
},
"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/Xense/optical_module_expand_0819.peg_optical_module_0721ltx2-optims-artifactsContains the artifacts for https://github.com/sayakpaul/ltx2-simple-optims.
Videos generated during the benchmarks are in videos.
Logs are available in results.
Claude's trace and memory are available in claude_stuff.
candy_05_24_optimalMultiRobots_handoff
Connectivity-Aware Multi-Robot Edge Inference Dataset
Dataset Description
This dataset contains robot manipulation demonstrations collected from a multi-robot production-line scenario designed to study shared and remote VLA inference for multiple robots.
The experimental setup emulates an industrial production line in which multiple robots share centralized AI inference resources to perform distinct but interdependent tasks within a closed-loop workflow.
Two… See the full description on the dataset page: https://huggingface.co/datasets/OptiNet/MultiRobots_handoff.ethernet_05_26_optimalanubis_pick_carrot_out_of_pot_merged_eefpose_v2_1_optimalityThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 110,
"total_frames": 40234,
"total_tasks": 1,
"total_videos": 330,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:110"
},
"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/chomeed/anubis_pick_carrot_out_of_pot_merged_eefpose_v2_1_optimality.lerobot_peg_optical_4cams_0527_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 60,
"total_frames": 36662,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:60"
},
"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/hukewei/lerobot_peg_optical_4cams_0527_2.anubis_pick_carrot_out_of_pot_randomized_eefpose_v2_1_optimality_fixedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 70,
"total_frames": 31923,
"total_tasks": 1,
"total_videos": 210,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:70"
},
"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/chomeed/anubis_pick_carrot_out_of_pot_randomized_eefpose_v2_1_optimality_fixed.lerobot_peg_in_opticalThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 50,
"total_frames": 38740,
"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/hukewei/lerobot_peg_in_optical.lerobot_peg_optical_4cams_0527_50This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 54,
"total_frames": 48304,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:54"
},
"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/hukewei/lerobot_peg_optical_4cams_0527_50.lerobot_peg_optical_3cams_0525This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 60,
"total_frames": 50164,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:60"
},
"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/hukewei/lerobot_peg_optical_3cams_0525.data-juicer-t2v-optimal-data-pool
Data-Juicer Sandbox: A Comprehensive Suite for Multimodal Data-Model Co-development
Project description
The emergence of large-scale multi-modal generative models has drastically advanced artificial intelligence, introducing unprecedented levels of performance and functionality.
However, optimizing these models remains challenging due to historically isolated paths of model-centric and data-centric developments, leading to suboptimal outcomes and inefficient resource… See the full description on the dataset page: https://huggingface.co/datasets/datajuicer/data-juicer-t2v-optimal-data-pool.chatgpt_optimization_exampleThis 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/justintiensmith/chatgpt_optimization_example.optimism_train
Optimism Bias World Model Benchmark — Training Data
Training data for VLM-as-judge models evaluating world model predictions.
Structure
├── part1_physconscore/ # Physical Consistency Scoring
├── part2_action_following/ # Action Following Evaluation
└── part3_optimism_bias/ # Optimism Bias Detection
Part 1: Physical Consistency Score (PhysConsScore)
Task: Binary classification (Good/Bad) on 16 physics indicators
Model: Qwen3-VL-8B-Instruct (LoRA… See the full description on the dataset page: https://huggingface.co/datasets/TANDREWYANG/optimism_train.lerobot_peg_optical_3camsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 30,
"total_frames": 23252,
"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/hukewei/lerobot_peg_optical_3cams.lerobot_peg_optical_4cams_0527This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 30,
"total_frames": 22781,
"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/hukewei/lerobot_peg_optical_4cams_0527.verl_vla_qdao_libero_spatial_qdao_value_cql_ratio2_alpha005_step800_opt100_bc10This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 16,
"total_frames": 3322,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"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/Miical/verl_vla_qdao_libero_spatial_qdao_value_cql_ratio2_alpha005_step800_opt100_bc10.lerobot_peg_in_optical_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 30,
"total_frames": 20534,
"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/hukewei/lerobot_peg_in_optical_2.lerobot_peg_optical_4cams_0527_1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 29,
"total_frames": 17543,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:29"
},
"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/hukewei/lerobot_peg_optical_4cams_0527_1.