datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
Elevator-LIO-FiftyOne
Dataset Card for Elevator-LIO (FiftyOne Multimodal)
A FiftyOne multimodal dataset of 22 MCAP episodes derived from the Elevator-LIO Dataset
(arXiv 2605.24495). Each episode is a synchronized recording of Livox MID-360 LiDAR point
clouds, IMU data, and (in two sequences) camera imagery captured during multi-floor building
navigation including 79 elevator rides across office, dormitory, campus, and mall environments.
Converted from ROS 1 bags to MCAP format for direct use in… See the full description on the dataset page: https://huggingface.co/datasets/Voxel51/Elevator-LIO-FiftyOne.MirrorSentinel-Elevator
MirrorSentinel Elevator → FiftyOne (Native Multimodal MCAP)
The
KevinWong216/MirrorSentinel-Elevator
recordings, converted from ROS 2 bags to native multimodal MCAP episodes.
A rig carrying a ZED2 stereo camera, an Ouster 3D LiDAR and the Ouster IMU was
walked through elevator cabins to record what mirrors and glass do to range
measurements. A LiDAR pointed at a mirror reports returns from behind it, so
the cabin appears to extend into space that is solid wall. Eight traversals… See the full description on the dataset page: https://huggingface.co/datasets/Voxel51/MirrorSentinel-Elevator.Elevator-LIO-Dataset
Elevator-LIO Dataset
面向电梯非惯性运动和跨楼层定位的 LiDAR-惯性里程计数据集。包含 20 条自采真实场景序列，涵盖 79 次电梯乘坐，场景包括办公楼、宿舍、校园和商场等环境。下载的主数据文件均为 ROS 1 bag。
A LiDAR-inertial odometry dataset for elevator-induced non-inertial motion and multi-floor localization. It contains 20 self-collected real-world sequences with 79 elevator rides across office, dormitory, campus, and mall environments. The released main data files are ROS 1 bags.
社区贡献 / Community Contributions
我们欢迎社区贡献者分享自己的电梯相关… See the full description on the dataset page: https://huggingface.co/datasets/xiaofan0100/Elevator-LIO-Dataset.vibepi-place-elevator-home-doris082026
vibepi-place-elevator-home-doris082026
Recorded dataset — captured on vibepi — 68 episodes · 8,106 frames @ 20 fps (~1 min of demonstration).
Tasks
Instruction
Episodes
place the cucumber on the middle of the cutting board, aligned vertically in the image, with the back end of the cucumber close to the upper edge of the cutting board
5
Recording
Rig
vibepi (calibration sidecar)
Recorded
2026-08-20
Operator
dorischen… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/vibepi-place-elevator-home-doris082026.jetson1-place-elevator-home-doris081926
jetson1-place-elevator-home-doris081926
Recorded dataset — captured on jetson1 — 72 episodes · 7,060 frames @ 20 fps (~2 min of demonstration).
Tasks
Instruction
Episodes
place the cucumber on the middle of the cutting board, aligned vertically in the image, with the back end of the cucumber close to the upper edge of the cutting board
30
Recording
Rig
jetson1 (calibration sidecar)
Recorded
2026-08-19
Operator… See the full description on the dataset page: https://huggingface.co/datasets/VibeCuisine/jetson1-place-elevator-home-doris081926.aloha_mobile_elevatorThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 20,
"total_frames": 45000,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/lerobot/aloha_mobile_elevator.press_elevator_button_0813This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 50,
"total_frames": 16450,
"total_tasks": 1,
"total_videos": 100,
"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/Tank-123/press_elevator_button_0813.lerobot-so101-elevator-datasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 51,
"total_frames": 13947,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:51"
},
"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/RonLiao/lerobot-so101-elevator-dataset.so101_elevator_combined
so101_elevator_combined
This dataset was generated using a phospho starter pack.
This dataset contains a series of episodes recorded with a robot and multiple cameras. It can be directly used to train a policy using imitation learning. It's compatible with LeRobot and RLDS.
aloha_mobile_elevator_rawaloha_mobile_elevator_rawso101_elevator_6thfloorThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 20,
"total_frames": 6564,
"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/yuzhous/so101_elevator_6thfloor.metro-elevator-audits
Metro Elevator Audits
Latest accepted accessibility audit for each retained station.
Stations: 14
Audit range: 2025-02-11 to 2025-03-13
Offline elevators: 4
Total downtime minutes: 445
Borough order: North; Central; South
so101_elevator_5thfloorThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 20,
"total_frames": 6229,
"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/yuzhous/so101_elevator_5thfloor.so101_elevator_1stfloorThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 20,
"total_frames": 6434,
"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/yuzhous/so101_elevator_1stfloor.stable_elevator_buttonsNorthstar-Elevator-Reliability
Northstar Transit: Elevator Reliability Logs
This card lists monthly log batches considered for the public reliability release.
Log batches
Batch ref
Publication
Surveyed stops
QA hold
Borough
el.015
publish
31
clear
Central Loop
EL.220
publish
11
clear
East Junction
el.330
archive
24
clear
West End
EL.440
PUBLISH
006
clear
Central Loop
el.550
publish
19
legal
South Gate
EL.220
publish
15
clear
North Terrace
el.660
publish
31
clear
West End… See the full description on the dataset page: https://huggingface.co/datasets/SOTAagi2030/Northstar-Elevator-Reliability.elevator_button2_3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 103,
"total_frames": 23484,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:103"
},
"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/qoowater/elevator_button2_3.elevator_button5_g_p1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 10,
"total_frames": 2543,
"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/qoowater/elevator_button5_g_p1.MirrorSentinel-Elevator
MirrorSentinel Reflective Elevator Dataset
MirrorSentinel-Elevator is a synchronized RGB-LiDAR-IMU ROS 2 dataset for
studying severe mirror and glass interference in compact elevator
environments. It contains eight short traversals, E01-E08, collected across
seven measured physical elevator footprints. E02 and E03 repeat the same
physical cabin and are grouped as one footprint for inferential statistics.
The release contains the exact raw bags used by the accompanying paper. It… See the full description on the dataset page: https://huggingface.co/datasets/KevinWong216/MirrorSentinel-Elevator.elevator-inspection-requirements-by-state
How often elevators must be inspected in each US state: intervals, filing rules, fees and the ASME A17.1 edition enforced
Canonical, always-current version: https://referencesource.org/elevator-inspection-requirements-by-state/
Machine-readable: https://referencesource.org/elevator-inspection-requirements-by-state/data.json — this mirror is a point-in-time copy.
Last verified: 2026-08-11
Stale after: 2027-08-11 (past this date, prefer the canonical copy —
it re-verifies on a… See the full description on the dataset page: https://huggingface.co/datasets/referencesource/elevator-inspection-requirements-by-state.eval_stable_elevator_yoloelevator_button4_6_gThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 100,
"total_frames": 22007,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"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/qoowater/elevator_button4_6_g.elevator_button5This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 50,
"total_frames": 7292,
"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/qoowater/elevator_button5.elevator_button3_gThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 20,
"total_frames": 4020,
"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/qoowater/elevator_button3_g.elevator_button4_g_p1_updatedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 10,
"total_frames": 2809,
"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/qoowater/elevator_button4_g_p1_updated.Elevator-VIGS
Elevator-VIGS Dataset
Handheld and simulated sequences for visual-inertial SLAM through elevator rides, released with the paper Elevator-VIGS: Separating Elevator Motion from Robot Motion in Visual-Inertial Gaussian Splatting SLAM (paper, code, project page).
16 real-world sequences, handheld Manifold Odin 1 (RGB 1600×1296 at 10 Hz, IMU 400 Hz, LiDAR 120°×90° at 10 Hz) in offices, railway stations, a residential building and campus buildings. Rides span 1–15 floors and 7–50 m.… See the full description on the dataset page: https://huggingface.co/datasets/Rui5125/Elevator-VIGS.eval_elevator_button1_r3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so100_follower",
"total_episodes": 1,
"total_frames": 945,
"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/qoowater/eval_elevator_button1_r3.elevator_button_5_r1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 5,
"total_frames": 2712,
"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/qoowater/elevator_button_5_r1.elevator_button1_r1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 30,
"total_frames": 8810,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:30"
},
"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/qoowater/elevator_button1_r1.