datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
6DoF-SpatialBench
6-DoF SpatialBench
Paper_link: https://arxiv.org/abs/2502.13143
Project Page: https://qizekun.github.io/sofar/
Github Code: https://github.com/qizekun/SoFar
Previous spatial perception LLMs mainly focused on operations of positional relationships, such as left-right, near-far, size, and counting, etc.
In actual object manipulation, the orientation of the object is also a very important factor.
Therefore, we proposed a new 6-DoF spatial perception benchmark dataset for evaluating… See the full description on the dataset page: https://huggingface.co/datasets/qizekun/6DoF-SpatialBench.6dof_testThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 5,
"total_frames": 4470,
"total_tasks":1,
"total_videos": 20,
"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/hugechen/6dof_test.6dof_test_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 5,
"total_frames": 2980,
"total_tasks":1,
"total_videos": 20,
"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/hugechen/6dof_test_2.so101_6dof_pickblock_traditionalThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_6dof_follower",
"total_episodes": 31,
"total_frames": 12252,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:31"
},
"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/zonglin11/so101_6dof_pickblock_traditional.aloha_test_6dofThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
"arm_left_shoulder_pan.pos",
"arm_left_shoulder_lift.pos",
"arm_left_elbow_flex.pos",
"arm_left_wrist_flex.pos"… See the full description on the dataset page: https://huggingface.co/datasets/zonglin11/aloha_test_6dof.6DOF_ARM_test3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 2,
"total_frames": 1454,
"total_tasks": 1,
"total_videos": 4,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"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/pdd46465/6DOF_ARM_test3.aloha_test_6dof_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
18
],
"names": [
"arm_left_shoulder_pan.pos",
"arm_left_shoulder_lift.pos",
"arm_left_elbow_flex.pos",
"arm_left_wrist_flex.pos"… See the full description on the dataset page: https://huggingface.co/datasets/zonglin11/aloha_test_6dof_v2.USG_6dof_probe_measurements
6DoF Ultrasound Tracking Dataset
This dataset contains synchronous recordings from video tracking of an ultrasound probe, performed using a Dobot robotic arm with precise and fully repeatable trajectories. The dataset is intended for verifying the precision, robustness to motion blur, and calculating the drift error (RMSE) in a six degrees of freedom (6DoF) space.
Nomenclature and Folder Structure
Each folder in the dataset defines a single experiment ("Measurement") and… See the full description on the dataset page: https://huggingface.co/datasets/Ultraclear/USG_6dof_probe_measurements.so101_ee_6dof_pickblockThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_6dof_follower",
"total_episodes": 20,
"total_frames": 8113,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30.0,
"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/zonglin11/so101_ee_6dof_pickblock.so101_6dof_pickblockThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_6dof_follower",
"total_episodes": 20,
"total_frames": 11253,
"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/zonglin11/so101_6dof_pickblock.hello_6dof_test10This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "lekiwi_client",
"total_episodes": 1,
"total_frames": 3590,
"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/liyitenga/hello_6dof_test10.hello_6dof_test18This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "lekiwi_client",
"total_episodes": 1,
"total_frames": 1694,
"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/liyitenga/hello_6dof_test18.hello_6dof_test15This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "lekiwi_client",
"total_episodes": 1,
"total_frames": 696,
"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/liyitenga/hello_6dof_test15.sim2real-6dof
sim2real-6dof Dataset
Code Commit Hash (used for data generation): ae30b7e16f1d7eefc00383fcfaed09cbfb22f1a9
Shards: 80
Shard Size: 1000
myactuator_groot_6dofThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "myactuator_6dof",
"total_episodes": 152,
"total_frames": 53005,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:152"
},
"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/leonardonascimento/myactuator_groot_6dof.my_custom_6dof_datasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "custom_6dof",
"total_episodes": 29,
"total_frames": 6420,
"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/Prathamesh8931/my_custom_6dof_dataset.hello_6dof_test22This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "lekiwi_client",
"total_episodes": 1,
"total_frames": 507,
"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/liyitenga/hello_6dof_test22.myactuator_groot_6dof_caraacaraThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "myactuator_6dof",
"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": 30,
"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/leonardonascimento/myactuator_groot_6dof_caraacara.hello_6dof_test7franka-insert-siemens-lid-eval-6dof-7robot_arm_6dof.jsonmyactuator_groot_6dof_fixed6dof_0210-0324_fixed6dof_0409_5hz6_DOF