datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
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.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_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.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.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.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.eval_openvla_candy_sorting_in-distributionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_yam_follower",
"total_episodes": 50,
"total_frames": 89295,
"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/allenai/eval_openvla_candy_sorting_in-distribution.eval_molmoact_candy_sorting_in-distributionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_yam_follower",
"total_episodes": 50,
"total_frames": 59645,
"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/allenai/eval_molmoact_candy_sorting_in-distribution.AgiBotWorld-Beta_G1_task_359_Warehouse_sorting
agibot_task_359
This dataset converts the AgiBot format uniformly into LeRobot V3.0.
Dataset Statistics
robot_name: G1
end_effector: 夹爪
task: 仓库分拣
total_episodes: 644
total_tasks: 1
size: 29G
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├── info.json
│ ├── stats.json
│ └── tasks.parquet
└── videos
├── observation.images.back_left_fisheye… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_359_Warehouse_sorting.shape-sorting-so101-30fpsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"Rotation",
"Pitch",
"Elbow",
"Wrist_Pitch",
"Wrist_Roll",
"Jaw"
]
}… See the full description on the dataset page: https://huggingface.co/datasets/Artefacts/shape-sorting-so101-30fps.industrial_screws_sorting_expertThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 20,
"total_frames": 29859,
"total_tasks": 1,
"total_videos": 40,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:20"
},
"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/kantine/industrial_screws_sorting_expert.eval_cosmos_candy_sorting_in-distributionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_yam_follower",
"total_episodes": 53,
"total_frames": 89732,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:53"
},
"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/Jiafei1224/eval_cosmos_candy_sorting_in-distribution.dk1_duplo_sorting_by_size_2026-04-05This dataset was created using LeRobot.
Dataset Description
Bimanual Lego Duplo sorting by size
Robot: TRLC DK1 bimanual (bi_dk1_follower) — 2× 6-DOF arms with grippers
Task: sort duplo bricks by size, large to the right and small to the left
Episodes: 51
Total frames: 60,393 (33.6 min @ 30 fps)
Avg episode length: 39.5s
License: apache-2.0
Cameras
Camera
Resolution
Codec
FPS
observation.images.head
640x360
h264
30
observation.images.left_wrist… See the full description on the dataset page: https://huggingface.co/datasets/andreaskoepf/dk1_duplo_sorting_by_size_2026-04-05.eval_pi05_candy_sorting_in-distributionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_yam_follower",
"total_episodes": 50,
"total_frames": 33406,
"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/allenai/eval_pi05_candy_sorting_in-distribution.eval_cosmos_candy_sorting_in-distributionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_yam_follower",
"total_episodes": 53,
"total_frames": 89732,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:53"
},
"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/allenai/eval_cosmos_candy_sorting_in-distribution.eval_xvla_candy_sorting_in-distributionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_yam_follower",
"total_episodes": 50,
"total_frames": 33307,
"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/allenai/eval_xvla_candy_sorting_in-distribution.dk1_domino_sorting_001This dataset was created using LeRobot.
Cameras
Camera
Resolution
Codec
FPS
observation.images.head
1280x720
h264
30
observation.images.left_wrist
1280x720
h264
30
observation.images.right_wrist1280x720
h264
30
Observation Space
observation.state: float32[40] — left_joint_1.pos, left_joint_1.vel, left_joint_1.torque, left_joint_2.pos, left_joint_2.vel, left_joint_2.torque... (joint positions, velocities, torques for both arms + grippers)… See the full description on the dataset page: https://huggingface.co/datasets/andreaskoepf/dk1_domino_sorting_001.so101-sorting-v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 100,
"total_frames": 35763,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:100"
},
"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/Renegade-888/so101-sorting-v2.industrial_screws_sorting_anomalyThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 10,
"total_frames": 14926,
"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/kantine/industrial_screws_sorting_anomaly.eval_openvla_candy_sorting_in-distributionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_yam_follower",
"total_episodes": 50,
"total_frames": 89295,
"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/Jiafei1224/eval_openvla_candy_sorting_in-distribution.353-TheTuTuLove-Thermal_Sorting
Tutu Hackathon - Thermal Camera Project
This project uses a thermal camera to capture and process video.
Hardware
Thermal Camera: 256X192 CVBS Analog Thermal Camera
CVBS to USB Capture Card: CVBS to USB video capture card
OAK-1 from Luxonis (https://shop.luxonis.com/products/oak-1?variant=42664380334303)
Software
Tutu Hackathon Github Repository
[Overhead Camera Mount]… See the full description on the dataset page: https://huggingface.co/datasets/LeRobot-worldwide-hackathon/353-TheTuTuLove-Thermal_Sorting.cube-sorting2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 150,
"total_frames": 79907,
"total_tasks": 3,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:150"},
"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/Praneel-Auryal/cube-sorting2.loreal_returns_sorting_0730This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_dobot_nova5_dh",
"total_episodes": 5,
"total_frames": 6171,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:5"
},
"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_0730.cube-color-sorting-0821This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_flexiv_rizon4_rt",
"total_episodes": 101,
"total_frames": 143517,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:101"
},
"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/cube-color-sorting-0821.eval_pi05_candy_sorting_in-distributionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_yam_follower",
"total_episodes": 50,
"total_frames": 33406,
"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/Jiafei1224/eval_pi05_candy_sorting_in-distribution.bottle-sorting-0810This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_flexiv_rizon4_rt",
"total_episodes": 160,
"total_frames": 136959,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:160"
},
"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/bottle-sorting-0810.svla_so100_sortingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 9,
"total_frames": 6633,
"total_tasks": 1,
"total_videos": 18,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:9"
},
"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/liamlau/svla_so100_sorting.eval_act_sorting_testThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 0,
"total_frames": 0,
"total_tasks": 0,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {},
"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/Renegade-888/eval_act_sorting_test.eval_molmoact_candy_sorting_in-distributionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_yam_follower",
"total_episodes": 50,
"total_frames": 59645,
"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/Jiafei1224/eval_molmoact_candy_sorting_in-distribution.eval_xvla_candy_sorting_in-distributionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_yam_follower",
"total_episodes": 50,
"total_frames": 33307,
"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/Jiafei1224/eval_xvla_candy_sorting_in-distribution.