datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
svla_so100_sortingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so100",
"total_episodes": 52,
"total_frames": 35713,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:52"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/svla_so100_sorting.loreal_returns_sorting_0722This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_dobot_nova5_dh",
"total_episodes": 326,
"total_frames": 574841,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:326"
},
"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/loreal_returns_sorting_0722.G1_WBT_Inspire_Sort_Fruitloreal_returns_sorting_0831This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "dobot_nova5_dh",
"total_episodes": 145,
"total_frames": 209887,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:145"
},
"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/loreal_returns_sorting_0831.G1_WBT_Brainco_Sort_Fruitsort_utensils
sort_utensils
Bimanual utensil sorting: pick up a utensil, set it on the pink plate, then place the other utensil in the container.
Real-robot bimanual manipulation data collected on a YAM arm pair, released as part
of the Flex-π project. Stored in LeRobot v2.1 format with synchronized RGB and
metric depth from three cameras.
At a glance
Episodes
152
Frames
128,010
Duration
~1.2 h @ 30 fps
Tasks
1
Robot
yam (bimanual)
Cameras
cam_high… See the full description on the dataset page: https://huggingface.co/datasets/flex-pi/sort_utensils.piperx-sortletter-0905-53ep-mixed
PiperX Sort Letters — Mixed
This dataset mixes three execution orders, with 36 episodes per order
and 108 episodes total (88,552 frames at 30 FPS):
Output episode indices (zero-based)
Execution order
Source episodes
0–35
Left arm, then right arm
bi-sequential 0–35
36–71
Right arm, then left arm
bi-sequential 54–89
72–107
Concurrent: both arms start together
retimed 0–35
Source datasets
PiperX Sort Letters — Bi-sequential
supplies the original… See the full description on the dataset page: https://huggingface.co/datasets/Shiki42/piperx-sortletter-0905-53ep-mixed.block_sorting_singleThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "xlerobot",
"total_episodes": 256,
"total_frames": 153183,
"total_tasks": 4,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:256"
},
"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/Odog16/block_sorting_single.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.xtac-umi-g1-parts-sorting
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": 24650,
"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-parts-sorting.sock_purple_green_orange_sortThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 153,
"total_frames": 72690,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:153"
},
"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/makermods/sock_purple_green_orange_sort.dexmg-two-arm-can-sort-randomThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "robomimic",
"total_episodes": 1020,
"total_frames": 322073,
"total_tasks": 1,
"total_videos": 3060,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:1020"
},
"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/ankile/dexmg-two-arm-can-sort-random.315-vectioneer-Hanwha_pickandplace_shape_sortersort_9This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100_follower",
"total_episodes": 10,
"total_frames": 3446,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:10"
},
"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/yinxinyuchen/sort_9.sort-the-tool-rightablation_sort_by_color_100_10fps
Ablation Sort By Color 100 10Fps
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Sort the blocks onto the matching colored dishes."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 100 (74,450 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on Isaac Sim 5.1 /… See the full description on the dataset page: https://huggingface.co/datasets/HyeonseokE/ablation_sort_by_color_100_10fps.object-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.act_sort_250911_02_downsampled_demospeedup_1_3sortletters_parallel_121_v21_openpi
sortletters_parallel_121_v21_openpi
STOP — rejected for behavior training. This public revision is preserved only as a
reproducible engineering fixture for loader, padding-mask, and training-throughput tests.
It is not a valid real-robot policy-training dataset and must not be used to claim
sortletters behavior quality or real-robot success rate.
警告：该数据已被行为训练资格门拒绝。 仅允许用于 loader、mask 和训练吞吐工程验证；
不得用于声称有效真机策略训练、字母排序行为质量或真机成功率。
Qualification evidence
Independent… See the full description on the dataset page: https://huggingface.co/datasets/Shiki42/sortletters_parallel_121_v21_openpi.so100_nut_sort_1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 60,
"total_frames": 43384,
"total_tasks": 1,
"total_videos": 180,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:60"
},
"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/356c/so100_nut_sort_1.sort_b601_simpleThis 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_yaw.pos",
"wrist_roll.pos",
"gripper.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/adrfm/sort_b601_simple.sort_b601This 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_yaw.pos",
"wrist_roll.pos",
"gripper.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/adrfm/sort_b601.phase1_sort_by_color_A1_10fps
Phase1 Sort By Color A1 10Fps
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Sort the blocks onto the matching colored dishes."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 100 (74,322 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on Isaac Sim 5.1 /… See the full description on the dataset page: https://huggingface.co/datasets/HyeonseokE/phase1_sort_by_color_A1_10fps.uaf_g1_sort_canssort_b601_simple_makelabThis 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_yaw.pos",
"wrist_roll.pos",
"gripper.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/adrfm/sort_b601_simple_makelab.rollout_sort_b601_simple_filtered_act_v2_changed_envThis 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_yaw.pos",
"wrist_roll.pos",
"gripper.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/adrfm/rollout_sort_b601_simple_filtered_act_v2_changed_env.sort_s_25_10_22_lerobot_v2.1dp_sort_250911_02_downsampled_demospeedup_1_3rebot-can-sort-stage1-v1-smoke
ReBot can sorting Stage 1
Reviewed success-only LeRobot v3 dataset for: Pick up one can and place it in
the taped sorting zone.
Episodes: 52
Frames: 36729
FPS: 30
Robot: seeed_b601_dm_follower
Cameras: observation.images.front (Logitech overhead) and
observation.images.side (Innomaker wrist/claw)
Action order: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_yaw.pos, wrist_roll.pos, gripper.pos
Intended destination:… See the full description on the dataset page: https://huggingface.co/datasets/Cornerf/rebot-can-sort-stage1-v1-smoke.so101-single-arm-sort-dice-delta-v2.1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 100,
"total_frames": 120681,
"total_tasks": 1,
"total_videos": 500,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:100"
},
"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/SimKienTech/so101-single-arm-sort-dice-delta-v2.1.