datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
Task_900001_Recycle_BlackPlasticCup_place_1022_0630_MCAP_2
Task_900001_Recycle_BlackPlasticCup_place_1022_0630_MCAP
Created with Cyclo Intelligence by ROBOTIS.
evButtonPush-260429-02-hdf5
evButtonPush — 30Hz 멀티카메라 RGB 데모셋 (50 종 distinct 엘베)
개요
엘리베이터 콜 버튼 누르기 task 의 ROBOTIS OMY 6-DoF 매니퓰레이터 시연 데이터셋. Isaac Sim 5.1 + Isaac Lab 환경에서 scripted teacher (DLS-IK + force-feedback) 로 자동 수집됨.
핵심 차별점: 각 데모마다 100종 elevator USD 풀에서 서로 다른 변형 1개씩 강제 사용 (--usd-index). 50 demos = 50 unique elevators (중복 0개). 형제 데이터셋 260429-01 은 episode 마다 random sample 이라 어떤 변형은 여러 번 나오고 다른 건 한 번도 안 나오는 분포라는 점에서 다름.
데이터셋 정보
항목
값
총 데모 수
50 (49 업로드 — bad-write 1개 제외)… See the full description on the dataset page: https://huggingface.co/datasets/RobotisAI/evButtonPush-260429-02-hdf5.Merged_PickPlace_PlasticBottle_CoffeeCan_KJM_WJW_lerobot
Merged PickPlace dataset
LeRobot v2.1, 15 FPS, ffw_sg2_rev1.
626 episodes, 123209 frames, 2504 videos.
Tasks:
Pick up the plastic bottle.
Pick up the coffee can.
Sources, in merge order:
Task_000613_PickPlace_PlasticBottle_KJM_WJW_lerobot
Task_000630_PickPlace_PlasticBottle_KJM_WJW_lerobot
Task_000632_PickPlace_CoffeeCan_KJM_WJW_lerobot
Task_000640_PickPlace_CoffeeCan_KJM_WJW_lerobot
Task_000644_PickPlace_PlasticBottle_KJM_WJW_lerobot… See the full description on the dataset page: https://huggingface.co/datasets/RobotisSW/Merged_PickPlace_PlasticBottle_CoffeeCan_KJM_WJW_lerobot.evButtonPush-arx5-260715-0-MCAPTask_0025_clean_cafe_table_JC_MCAP_lerobot_v21
Task_0025_clean_cafe_table_JC_MCAP
Created with Cyclo Intelligence by ROBOTIS.
Task_900001_Recycle_BlackPlasticCup_place_1022_0703_lerobot
dataset-temp-task-900001-recycle-blackplasticcup-place-1022-0630-lerobot
Task_0047_Insert_Cosmetics_R2L_Both_1050_0612_BK_lerobot
dataset-temp-task-0047-insert-cosmetics-r2l-both-1050-0612-bk-lerobot
Task_900008_900008_merged_MCAP
Task_900008_900009_merged
Created with Cyclo Intelligence by ROBOTIS.
Task_90000_Pick_UP_Trash_Stay_MCAP_lerobot_v21
Task_90000_Pick_UP_Trash_Stay_MCAP
Created with Cyclo Intelligence by ROBOTIS.
Task_0005_CartoningFoodProduct_lerobotevButtonPush-260423-01-hdf5
evButtonPush — 260423-01 (v02)
한국어
ROBOTIS OMY 6-DoF 팔이 NVIDIA Isaac Sim / Isaac Lab 환경에서 엘리베이터 호출버튼을 누르는 시뮬레이션 데모셋 (v02). 스크립트된 IK teacher로 자동 수집됨.
이전 collection (거리 기반 v01) 은
RobotisAI/evButtonPush-260422-01-hdf5
에서 받을 수 있습니다 (baseline / ablation 용).
v02 특성 (권장)
45 demos, seed 0~`44`, 전부 pressed=True
약 35초/ep, ~1050 프레임 @ 30fps
성공 판정: 물리 접촉 힘 ≥ 0.5 N (PhysX tip_contact sensor)
엘베 문 FSM: state 0 (대기) → 1 (눌림, LED on) → 2 (문 여는 중) → 3 (완전 개방)
평균 접촉 힘 피크:… See the full description on the dataset page: https://huggingface.co/datasets/RobotisAI/evButtonPush-260423-01-hdf5.eval_koch_test_horizontalThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 30,
"total_frames": 8955,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:30"
},
"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/RobotisSW/eval_koch_test_horizontal.Task_0004_PlaceAirbagIntoBox_lerobot
dataset-robotis-box-packing-0325-merged-lerobot
evButtonPush-260422-01-hdf5
evButtonPush — 260422-01 (v01)
한국어
ROBOTIS OMY 6-DoF 팔이 NVIDIA Isaac Sim / Isaac Lab 환경에서 엘리베이터 호출버튼을 누르는 시뮬레이션 데모셋 (v01). 스크립트된 IK teacher로 자동 수집됨.
v02 (개선된 contact-force 기반 teacher + 엘베 문 FSM 포함)는
RobotisAI/evButtonPush-260423-01-hdf5
에서 받을 수 있습니다.
Task
Task ID (Isaac Lab): RobotisLab-CallButton-Right-OMY-v0
로봇: ROBOTIS OMY (6축 팔 + 2지 그리퍼)
Pedestal 높이: 0.908 m, 그리퍼 항상 닫힘 (stiffness 2×10⁶, effort 5000)
엘리베이터 USD: 100종 variants 중 seed별 random_choice… See the full description on the dataset page: https://huggingface.co/datasets/RobotisAI/evButtonPush-260422-01-hdf5.evButtonPush-arx5-260722-0-lerobot
evButtonPush arx5 v3 - LeRobot dataset
ARX X5 6-DoF arm pressing an elevator button, leader-follower teleoperation.
Used to fine-tune GR00T N1.6.
Episodes: 112 (odd/even split of 56 recordings, 30fps -> two real 15fps sequences)
Frames: 22,518 | FPS: 15 | State/Action: 7D (6 joints + gripper) | Cameras: 3
Paired inference rosbag: evButtonPush-arx5-260722-0-MCAP
Task_0005_CartoningFoodProduct_lerobotkoch_test_horizontalThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 40,
"total_frames": 10556,
"total_tasks": 1,
"total_videos": 80,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:40"
},
"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/RobotisSW/koch_test_horizontal.4_wx250s_merge_datasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "4_wx250s",
"total_episodes": 50,
"total_frames": 21174,
"total_tasks": 1,
"total_videos": 50,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:50"
},
"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/ROBOTIS-junha/4_wx250s_merge_dataset.evButtonPush-260519-0-lerobotTask_0001_CoffeeClassification_leroboteval_koch_test_verticalThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 30,
"total_frames": 9106,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:30"
},
"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/RobotisSW/eval_koch_test_vertical.eval_koch_test_positional_biasThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 30,
"total_frames": 10616,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:30"
},
"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/RobotisSW/eval_koch_test_positional_bias.ffw_sg2_rev1_task_166_0115_jungmin_1This dataset was created using Physical AI Tools and LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ffw_sg2_rev1",
"total_episodes": 20,
"total_frames": 3808,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"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/RobotisSW/ffw_sg2_rev1_task_166_0115_jungmin_1.final_sector4evButtonPush-260615-0-lerobotffw_sg2_rev1_ffw_sg2_rev1_PickTunaCan10This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "aiworker",
"total_episodes": 1,
"total_frames": 191,
"total_tasks": 1,
"total_videos": 3,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"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/RobotisSW/ffw_sg2_rev1_ffw_sg2_rev1_PickTunaCan10.ffw_sg2_rev1_task_230_0126_jungmin_1_editThis dataset was created using Physical AI Tools and LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ffw_sg2_rev1",
"total_episodes": 12,
"total_frames": 7399,
"total_tasks": 1,
"total_videos": 36,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:12"
},
"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/RobotisSW/ffw_sg2_rev1_task_230_0126_jungmin_1_edit.Task_0003_SeparateRecycling_lerobotevButtonPush-260608-0-lerobotTask_0006_CookieScanning_MCAP