datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
real_robot_data
Real Robot Manipulation Dataset
Tabletop manipulation tasks recorded on a UR5e with a Robotiq 2F-140
gripper. Most tasks use two Intel RealSense cameras (fixed base + wrist-mounted);
the newest hide_block_with_cup task adds a third (opposite-side counter view).
All recordings at 20 Hz.
Tasks
Folder
Eps
Cameras
Instruction
put_blocks_in_plate
100
2
Pick two blocks from the table and place them on the plate.
remove_blocks_from_plate
100
2
Pick two… See the full description on the dataset page: https://huggingface.co/datasets/Hoshipu/real_robot_data.KIT_IRL_Real_Robot_Kitchen_Dataset_Vis_OnlyDataset with joint state play data for a toy kitchen. Does not contain language annotations.
The dataset contains 20 different tasks with two static cameras.
@inproceedings{
reuss2024multimodal,
title={Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal Goals},
author={Moritz Reuss and {\"O}mer Erdin{\c{c}} Ya{\u{g}}murlu and Fabian Wenzel and Rudolf Lioutikov},
booktitle={Robotics: Science and Systems},
year={2024}
}
KIT_IRL_Real_Robot_Kitchen_Dataset_LangDataset with joint state play data for a toy kitchen.
The dataset contains 20 different tasks with two static cameras.
@inproceedings{
reuss2024multimodal,
title={Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal Goals},
author={Moritz Reuss and {\"O}mer Erdin{\c{c}} Ya{\u{g}}murlu and Fabian Wenzel and Rudolf Lioutikov},
booktitle={Robotics: Science and Systems},
year={2024}
}
ebim_task2_realrobotdataebim-task1-realrobotdata-lerobot-part1
Task 1 real-robot data
LeRobot v2.1 dataset produced from raw LABS MCAP episodes after correcting the ZED Mini
equidistant lens model.
Task: cable routing
Episodes: 24
Frames: 207176
FPS: 20
observation.state: 62 dimensions
action: 23 dimensions
External joint torques are read from sensor_msgs/JointState.effort.
real_robot_data_arrangement_mixedebim-task1-realrobotdata-lerobot-part2
Task 1 real-robot data
LeRobot v2.1 dataset produced from raw LABS MCAP episodes after correcting the ZED Mini
equidistant lens model.
Task: cable routing
Episodes: 26
Frames: 145479
FPS: 20
observation.state: 62 dimensions
action: 23 dimensions
External joint torques are read from sensor_msgs/JointState.effort.
real_robot_data_arrangement_blue_black_redreal_robot_data_0506real_robot_data_arrangement_black_red_bluereal-robot-data-retime-previews
Drawer trim previews
Three requested main-camera previews from the trimmed drawer dataset. These files retain the original serial actions; parallel retiming is not applied.
Source: Travor278/piperx-put-cube-in-drawer-20260908-87ep, revision 58bbbd720f6e78d162b8f4bc7077759d34c5162f.
Only initial stationary frames were removed. Available original terminal frames are preserved; no synthetic terminal hold is added to these trim previews.
Episode 1: 28.33 seconds; 8 initial frames… See the full description on the dataset page: https://huggingface.co/datasets/Shiki42/real-robot-data-retime-previews.ebim-task1-realrobotdata-lerobot
Task 1 real-robot data
LeRobot v2.1 dataset produced from raw LABS MCAP episodes after correcting the ZED Mini
equidistant lens model.
Task: cable routing
Episodes: 24
Frames: 207176
FPS: 20
observation.state: 62 dimensions
action: 23 dimensions
External joint torques are read from sensor_msgs/JointState.effort.
bag-all-0-real-robot-data
Real Robot Dataset from bag_all_0.db3
Real robot manipulation data extracted from bag_all_0.db3 ROS2 bag file.
Dataset Information
Format: LeRobot v2.0
Source: bag_all_0.db3
Robot: SO101 Robot
Frames: 100
Data: Real joint positions and velocities
Features
observation.state: 7-DOF joint positions
action: 7-DOF joint velocities
observation.image: Robot visualization video
Real timestamps from original bag data
Joint Statistics
Position Range:… See the full description on the dataset page: https://huggingface.co/datasets/Sraghvi/bag-all-0-real-robot-data.alapca_fibonacci_ai_real_robot_team_dataset_alpaca