datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
mujocoloco-mujoco-datasetsdvla-mujoco-assetslibero_mujoco3.3.2_depth
LIBERO with depth (MuJoCo 3.3.2 re-render)
The four standard LIBERO benchmark suites,
re-rendered under MuJoCo 3.3.2 and republished in LeRobot v2.1 format with
per-camera metric depth added alongside the usual RGB. no_noops means idle
frames have been stripped.
Contents
This repo holds four independent LeRobot datasets, one per suite:
suite
episodes
frames
tasks
libero_10_no_noops_lerobot
388
104,160
10
libero_goal_no_noops_lerobot
433
52,895
10… See the full description on the dataset page: https://huggingface.co/datasets/flex-pi/libero_mujoco3.3.2_depth.menagerie_mujocoscrew_loose-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 100,
"total_frames": 136834,
"total_tasks": 1,
"total_videos": 300,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/autobio-bench/screw_loose-mujoco.mujoco-so101-stack_cubes-joystick-v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_mujoco",
"total_episodes": 43,
"total_frames": 89891,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:43"
},
"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/CarlosMunoz0/mujoco-so101-stack_cubes-joystick-v2.screw_tighten-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 100,
"total_frames": 154830,
"total_tasks": 1,
"total_videos": 300,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/autobio-bench/screw_tighten-mujoco.thermal_cycler_close-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "ur5e",
"total_episodes": 100,
"total_frames": 106292,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/autobio-bench/thermal_cycler_close-mujoco.dcs_mujoco_with_masksstretch-mujoco-tasksmujoco_reachpickup-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 100,
"total_frames": 49959,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/autobio-bench/pickup-mujoco.GraspClutter6D-YCB-MuJoCo
GraspClutter6D-YCB MuJoCo Dataset
This is a dataset of the GraspClutter6D and YCB 3D models adapted for use in MuJoCo. See https://2026vlmtaskplanningclutter.github.io/ for more information.
mujoco_UR5e_datasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5e",
"total_episodes": 101,
"total_frames": 63765,
"total_tasks": 17,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:101"
},
"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/gubam/mujoco_UR5e_dataset.libero_mujoco3.3.2
LIBERO MuJoCo 3.3.2 (Preprocessed LeRobot v2.1 Release)
This repository releases our preprocessed LIBERO dataset in LeRobot v2.1 format for the open-source release of Fast-WAM: Do World Action Models Need Test-time Future Imagination?
This is not an official upstream LIBERO data dump. It is our paper-specific processed release prepared to support training, evaluation, and reproducibility for our project.
This Hugging Face repository distributes the dataset as four .tar.gz… See the full description on the dataset page: https://huggingface.co/datasets/Zhanguang/libero_mujoco3.3.2.insert-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "ur5e",
"total_episodes": 100,
"total_frames": 55127,
"total_tasks": 10,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/autobio-bench/insert-mujoco.MuJoCoPickLift-v1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101",
"total_episodes": 10,
"total_frames": 3498,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:10"
},
"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/johnsutor/MuJoCoPickLift-v1.interactive-world-sim-mujoco-dataMujocoUR5eCable
MuJoCo environments
UR5e
MujocoUR5eCableEnv
Task to pass the cable between two poles.
The same data can be downloaded here.
RoboManipBaselines Paper
https://huggingface.co/papers/2509.17057
so101_mujoco_stack_3_blocksThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [… See the full description on the dataset page: https://huggingface.co/datasets/anhquoc29/so101_mujoco_stack_3_blocks.insert_centrifuge_5430-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "ur5e",
"total_episodes": 100,
"total_frames": 54329,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/autobio-bench/insert_centrifuge_5430-mujoco.mujoco_walk_to_table_2openarm-2-cell-pick_up_cube_mujoco-lerobot
openarm-2-cell-pick_up_cube_mujoco-lerobot
OpenArm 2 bimanual manipulation demonstrations ("pick up the cube") recorded in a
MuJoCo simulation cell through VR teleoperation, converted to the
LeRobot dataset format with
OpenArm Dataset.
Robot: OpenArm 2, bimanual (2 x 7 DoF + gripper, 16-dim state/action, joint positions)
Environment: MuJoCo simulation, VR teleoperation
Task: Pick up the cube.
Episodes: 30 (splits: train 0:24, val 24:30) — Frames: 5405 @ 30 fps
Cameras:… See the full description on the dataset page: https://huggingface.co/datasets/enactic/openarm-2-cell-pick_up_cube_mujoco-lerobot.mujoco_reach_v2push_block_mujocothermal_cycler_open-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "ur5e",
"total_episodes": 100,
"total_frames": 84994,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/autobio-bench/thermal_cycler_open-mujoco.roboverse-mujoco-franka-pick_cube-E200This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 251,
"total_frames": 29080,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:251"},
"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/ases200q2/roboverse-mujoco-franka-pick_cube-E200.mujoco_menageriepipette-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "ur5e",
"total_episodes": 100,
"total_frames": 71014,
"total_tasks": 1,
"total_videos": 300,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/autobio-bench/pipette-mujoco.