datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
openai_humaneval
Dataset Card for OpenAI HumanEval
Dataset Summary
The HumanEval dataset released by OpenAI includes 164 programming problems with a function sig- nature, docstring, body, and several unit tests. They were handwritten to ensure not to be included in the training set of code generation models.
Supported Tasks and Leaderboards
Languages
The programming problems are written in Python and contain English natural text in comments and docstrings.… See the full description on the dataset page: https://huggingface.co/datasets/openai/openai_humaneval.RoboMIND
RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation
Accepted by Robotics: Science and Systems (RSS) 2025.
📢 ANNOUNCEMENT | RoboMIND V2.0 Release
We're excited to announce the release of RoboMIND V2.0!
🔗 Access the complete RoboMIND V2.0 collection on ModelScope
💾 Overview of RoboMIND 💾
🤖 Composition of RoboMIND 🤖
We present RoboMIND (Multi-embodiment Intelligence Normative Dataset and Benchmark… See the full description on the dataset page: https://huggingface.co/datasets/x-humanoid-robomind/RoboMIND.humanevalplusHumanCellEpigenomeAtlas_sc_contactHumanGenHumanCellEpigenomeAtlas_sc_allcPhysicalAI-WorldModel-Synthetic-Digital-Human-Scenes
Dataset Description:
The SDG-SynHuman is a large-scale synthetic video dataset of digital humans rendered in diverse indoor and outdoor 3D environments. The dataset contains 236,937 clips, totaling approximately 5,841 hours of video, and is designed to support training and post-training of NVIDIA Cosmos world foundation models and related physical AI research.
Each sample is a temporally coherent 60-120 second video clip rendered at 1080p and 30 fps. Clips contain… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-WorldModel-Synthetic-Digital-Human-Scenes.aloha_sim_transfer_cube_humanThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 20000,
"total_tasks": 1,
"total_videos": 50,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/lerobot/aloha_sim_transfer_cube_human.humanoid-everyday
Humanoid Everyday
A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation
Overview
Humanoid Everyday is a large-scale, diverse humanoid manipulation dataset designed for open-world robotic learning and embodied intelligence.
It contains over 260 tasks across 7 major categories, covering dexterous manipulation, human–humanoid interaction, and locomotion-integrated activities.All data were collected through a human-supervised teleoperation pipeline… See the full description on the dataset page: https://huggingface.co/datasets/USC-PSI-Lab/humanoid-everyday.Xspark-HumanTouch
HumanTouch 数据集发布页
HumanTouch: A Multimodal System for Scalable Human-Hand Tactile Acquisition
运动展示手在做什么，触觉揭示物理世界如何响应。机器人需要理解接触丰富的交互，而不只是模仿运动轨迹。
项目主页：https://xsparkai.com/sparklab/humantouch/
出品机构：SparkLab@Xspark AI
项目负责人：Chuqiao Lyu｜lvcq@xsparkai.com
通讯作者：Wenbo Ding, Tianxing Chen, Qi Xiong
核心贡献：Chenze Yu, Eric J Chen, Wenxuan Zhu
项目成员：Youchen Lai, Raymond Lee, Daniel Li, Kai-Chong Lei, Kehe Ye, Jiahao Zhang, Yuxiao Huo, Xiwen Tan, Weining Lu, Gengqiu Yang, Junhao Gong… See the full description on the dataset page: https://huggingface.co/datasets/chuqiaoLyu/Xspark-HumanTouch.HumanAndRobot
H&R
Dataset of paper Human2Robot: Learning Robot Actions from Paired Human-Robot Videos (AAAI 2026 Oral)
Data Details
/cam_data
/human_camera: obs of human
/robot_camera: obs of robot
/end_position: eef 6-dof position, [x, y, z, roll, pitch, yaw] represent position and orientation, where the rotation is expressed in Euler angles (degrees) with the order XYZ.
/gripper_state: 0/1, 1 for gripper open，0 for close
/action: This attribute is not available in version v0… See the full description on the dataset page: https://huggingface.co/datasets/dannyXSC/HumanAndRobot.Medical-Eval-HumanityLastExamhumanevalpack
Dataset Card for HumanEvalPack
Dataset Summary
HumanEvalPack is an extension of OpenAI's HumanEval to cover 6 total languages across 3 tasks. The Python split is exactly the same as OpenAI's Python HumanEval. The other splits are translated by humans (similar to HumanEval-X but with additional cleaning, see here). Refer to the OctoPack paper for more details.
Languages: Python, JavaScript, Java, Go, C++, Rust
OctoPack🐙🎒:
Data
CommitPack
4TB of GitHub commits… See the full description on the dataset page: https://huggingface.co/datasets/bigcode/humanevalpack.ArtVIP
ArtVIP dataset card
🎉🎉🎉 ArtVIP is accepted by ICLR 2026
Key Features
✅ 476 high-quality digital-twin articulated objects.
✅ 6 pre-configured digital-twin scenes, 6 user-defined scenes
✅ Reusable Modular interaction
✅ Physics fidelity
✅ Pixel-level affordance annotations
****
Version History… See the full description on the dataset page: https://huggingface.co/datasets/X-Humanoid/ArtVIP.HumanEval-XLThis dataset contains a viewer-friendly version of the dataset at FloatAI/HumanEval-XL. It is made available separately for the convenience of the vllm-code-harness package.
DECO-50
DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter
DECO-50 is a bimanual dexterous manipulation dataset with tactile sensing, comprising 50 hours of teleoperated data across 4 scenarios and 28 subtasks, totaling over 5 million frames collected on real dual-arm robots.
Dataset Structure
DECO-50/
├── task1/
│ ├── sub_task_1/
│ │ ├── episode_000000/
│ │ │ ├──… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-Humanoid/DECO-50.humanaloha_sim_insertion_humanThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 25000,
"total_tasks": 1,
"total_videos": 50,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/lerobot/aloha_sim_insertion_human.pizza_st_human_mouse_v1_trainHumanEgo
HumanEgo
HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videos
🌐 Website ·
📄 Paper ·
💻 Code ·
🎥 Visualization Gallery
Dataset Summary
HumanEgo is a dataset of human egocentric manipulation videos recorded with
Project Aria (Gen 1) glasses, paired with Meta MPS annotations (SLAM trajectories +
hand tracking) and the full HumanEgo preprocessing output — per-frame RGB, object/arm… See the full description on the dataset page: https://huggingface.co/datasets/Leo-TX/HumanEgo.human_data_for_openvlaPizza_st_human_and_mousehumanoid_everyday
Humanoid Everyday
A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation
Overview
Humanoid Everyday is a large-scale, diverse humanoid manipulation dataset designed for open-world robotic learning and embodied intelligence.
It contains over 260 tasks across 7 major categories, covering dexterous manipulation, human–humanoid interaction, and locomotion-integrated activities.All data were collected through a human-supervised teleoperation pipeline… See the full description on the dataset page: https://huggingface.co/datasets/sehoonha/humanoid_everyday.MPII_Human_Pose_Dataset
Dataset Card for MPII Human Pose
MPII Human Pose dataset is a state of the art benchmark for evaluation of articulated human pose estimation.
The dataset includes around 25K images containing over 40K people with annotated body joints.
The images were systematically collected using an established taxonomy of every day human activities.
Overall the dataset covers 410 human activities and each image is provided with an activity label.
Each image was extracted from a YouTube… See the full description on the dataset page: https://huggingface.co/datasets/Voxel51/MPII_Human_Pose_Dataset.SE-167M-HumanEgoVLA-Humanoid-SimHumanVidaloha_sim_insertion_human_imageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 25000,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/aloha_sim_insertion_human_image.humanoid-everyday
Humanoid Everyday
A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation
Overview
Humanoid Everyday is a large-scale, diverse humanoid manipulation dataset designed for open-world robotic learning and embodied intelligence.
It contains over 260 tasks across 7 major categories, covering dexterous manipulation, human–humanoid interaction, and locomotion-integrated activities.All data were collected through a human-supervised teleoperation pipeline, recording… See the full description on the dataset page: https://huggingface.co/datasets/Fizzi789/humanoid-everyday.humanoid-everyday
Humanoid Everyday
A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation
Overview
Humanoid Everyday is a large-scale, diverse humanoid manipulation dataset designed for open-world robotic learning and embodied intelligence.
It contains over 260 tasks across 7 major categories, covering dexterous manipulation, human–humanoid interaction, and locomotion-integrated activities.All data were collected through a human-supervised teleoperation pipeline, recording… See the full description on the dataset page: https://huggingface.co/datasets/FedorX8/humanoid-everyday.