datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
metal_part_sort_v10_plus_extra_20260702
metal_part_sort_v10_plus_extra_20260702
Merged LeRobot v2.1 dataset for Unitree G1 + Inspire DFX metal part sorting.
Base dataset: PID0930/metal_part_sort_v10 @ 17fe43673ca30e840b1baa6e05c1f34b7dd43b91
Extra dataset: PID0930/metal_part_sort_v10_extra_20260701 @ 09c5a9113830443f99a8d91c11fd5754b238fc6a
Episodes: 329
Frames: 110966
Cameras: external, left wrist, right wrist, plus left_high/head slot retained for compatibility
GR00T training uses external as the logical head… See the full description on the dataset page: https://huggingface.co/datasets/PID0930/metal_part_sort_v10_plus_extra_20260702.cloth_folding_v2_pidpmetal_part_sort_v6
metal_part_sort_v6
LeRobot v2.1 dataset for the Unitree G1 + Inspire DFX metal part sorting task.
Episodes: 39
Frames: 32,049
FPS: 30
Raw snapshot: /home/y-kosugi/datasets/metal_part_sort_v6_all_raw_20260624/metal_part_sort_v6
Camera streams are stored as:
observation.images.cam_left_high: robot head camera, recorded for audit only
observation.images.cam_external: external camera
observation.images.cam_left_wrist: left wrist camera
observation.images.cam_right_wrist: right… See the full description on the dataset page: https://huggingface.co/datasets/PID0930/metal_part_sort_v6.metal_part_sort_v3
metal_part_sort_v3
LeRobot v2.1 dataset for Unitree G1 + Inspire DFX metal part sorting.
Episodes: 95
Frames: 46748
Cameras: head, left wrist, right wrist
State/action: 26D, with hand dimensions 14:26
Hand-state convention: observation.state[t, 14:26] = action[t-1, 14:26] for t > 0; frame 0 uses same-frame hand action.
Failed recordings moved to trash were excluded before conversion.
metal_part_sort_v10
metal_part_sort_v10
LeRobot v2.1 dataset recorded on Unitree G1 + Inspire DFX for metal part sorting.
Episodes: 309
Frames: 101594
Cameras: external, left wrist, right wrist, head slot mapped to external for GR00T compatibility
State/action: 26 dims (left arm 7, right arm 7, left hand 6, right hand 6)
PickPlaceCube_right_arm_pidpfrankapickplace_200episodesmetal_part_sort_v10_extra_20260701
metal_part_sort_v10_extra_20260701
Extra LeRobot v2.1 dataset recorded on Unitree G1 + Inspire DFX for metal part sorting.
Source raw episodes: episode_0311 through episode_0330 from local metal_part_sort_v10
Episodes: 20
Frames: 9372
Cameras: external, left wrist, right wrist, plus left_high/head slot retained for compatibility
GR00T training uses external as the logical head camera input
State/action: 26 dims (left arm 7, right arm 7, left hand 6, right hand 6)
metal_part_sort_v5g1-inspire-pick-cube-gr00t-lerobot
Unitree G1 Inspire Broccoli Plush To Red Tray
GR00T LeRobot v2 dataset converted from Unitree-style JSON episodes and JPEG frames.
Robot: Unitree G1 with Inspire DFX56 hands
Task: Pick up the broccoli plush with the right hand and place it on the red tray.
Episodes: 9
Frames: 3979
Format: GR00T-flavored LeRobot v2 with meta/modality.json
Use with Isaac-GR00T N1.7 via --embodiment-tag NEW_EMBODIMENT and
examples/G1Inspire/g1_inspire_config.py.
eval_pi0.5_so101-dual-handkercheif_cThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 1,
"total_frames": 1076,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:1"
},
"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/PID0930/eval_pi0.5_so101-dual-handkercheif_c.pi_data_50sim-omx-pick-place-v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "sim_omx",
"total_episodes": 50,
"total_frames": 12496,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 5,
"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/Pidiya/sim-omx-pick-place-v2.metal_part_sortThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "Unitree_G1_Inspire_MonoHead",
"total_episodes": 2,
"total_frames": 2443,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"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/PID0930/metal_part_sort.sarm-handkercheif-dThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so_follower",
"total_episodes": 9,
"total_frames": 73793,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:9"
},
"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/PID0930/sarm-handkercheif-d.frankapickplaceeval_so101-handkercheif_pi05-bThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so_follower",
"total_episodes": 1,
"total_frames": 4301,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:1"
},
"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/PID0930/eval_so101-handkercheif_pi05-b.sarm-handkercheif-val-20260328This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so_follower",
"total_episodes": 2,
"total_frames": 3124,
"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/PID0930/sarm-handkercheif-val-20260328.metal_part_sort_v2_ep0to93
metal_part_sort_v2 — episodes 0-93 subset (94 episodes)
Subset of PID0930/metal_part_sort_v2
@ af8a28758a97 (corrected: hand-state-fix + time-sync-fix), keeping only episodes 0-93
(94 episodes / 120,605 frames), i.e. excluding the last 12 episodes (94-105).
LeRobot v2.1, 3 cameras (cam_left_high / cam_left_wrist / cam_right_wrist).
sarm-handkercheif-aThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so_follower",
"total_episodes": 20,
"total_frames": 45547,
"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/PID0930/sarm-handkercheif-a.eval_so101-dual-handkercheif_ver5_bThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 1,
"total_frames": 1110,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:1"
},
"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/PID0930/eval_so101-dual-handkercheif_ver5_b.eval_pi0.5_so101-dual-handkercheif_bThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so101_follower",
"total_episodes": 1,
"total_frames": 1072,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:1"
},
"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/PID0930/eval_pi0.5_so101-dual-handkercheif_b.sarm-handkercheif-val-dThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so_follower",
"total_episodes": 2,
"total_frames": 3850,
"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/PID0930/sarm-handkercheif-val-d.sarm-handkercheif-b-tsuchiya1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so_follower",
"total_episodes": 2,
"total_frames": 3724,
"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/PID0930/sarm-handkercheif-b-tsuchiya1.sim-omx-pick-placeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "sim_omx",
"total_episodes": 200,
"total_frames": 60000,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:200"
},
"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/Pidiya/sim-omx-pick-place.cloth_folding_pidp_h200_testgello_bimanual_demo1_videoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 1,
"total_frames": 2707,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:1"
},
"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/PID0930/gello_bimanual_demo1_video.gello_bimanual_demo1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 1,
"total_frames": 2707,
"total_tasks": 1,
"total_videos": 4,
"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/PID0930/gello_bimanual_demo1.metal_part_sort_v10_first3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "Unitree_G1_Inspire",
"total_episodes": 3,
"total_frames": 1394,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:3"
},
"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/PID0930/metal_part_sort_v10_first3.lekiwi_task1-1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "lekiwi_client",
"total_episodes": 7,
"total_frames": 6118,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:7"
},
"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/PID0930/lekiwi_task1-1.