datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
kuavo_data_challenge_icra
[ICRA 2026] THE 1ST REAL-WORLD EMBODIED-AI LEARNING CHALLENGE DATASETS
✨ Overview
The 1st Real-World Embodied-AI Learning Challenge (REAL-I) is a competition held at ICRA 2026 and organized by LEJU ROBOT. We provide:
open access to real robots for evaluation and benchmarking
a large-scale industrial dataset collected from both simulated and real platforms
prizes and community support for top submissions
Visit the Official Website for more information and get… See the full description on the dataset page: https://huggingface.co/datasets/LejuRobotics/kuavo_data_challenge_icra.ICRA2027_Human_Spline_Fitted_2_garmenticra_wbc
RoboChallenge ICRA Whole Body Control Dataset
This dataset contains 2,800 teleoperated episodes collected on the Agibot G2 humanoid robot. Each episode captures a full mobile manipulation sequence—navigating to a shelf, grasping drink(s), walking to a cart, and placing item(s) into it—recorded via multi-camera observations and full-body proprioception at 30 Hz.
Tasks
Task
Episodes
Description
grasp_the_drink
1,278
Navigate to the shelf, grasp one drink with one… See the full description on the dataset page: https://huggingface.co/datasets/RoboChallenge/icra_wbc.IO-AI-SenseXperience-UMI
SenseXperience UMI Human Demonstration Dataset (LeRobot)
This open dataset showcases the real-world data acquisition capability of SenseXperience, our wearable embodied AI data collection platform.
It provides 1,051 episodes, 220,963 frames, and 92 manipulation tasks collected from natural human demonstrations with synchronized multimodal sensors.
Interactive Dataset Browser:
UMI Dataset: https://io-ai.tech/lerobot/?url=sample%3A%2F%2Fsensexperience_umi
EGO Dataset:… See the full description on the dataset page: https://huggingface.co/datasets/ICRA-WBCD/IO-AI-SenseXperience-UMI.Nurisk-ICRA2026
Nurisk: VQA for Risk Assessment in Autonomous Driving
Nurisk is a visual question answering dataset focusing on risk assessment for autonomous driving. Each row contains:
image: a BEV image
question: a driving-related question
answer: the ground truth answer
Paper
NuRisk: A Visual Question Answering Dataset for Agent-Level Risk Assessment in Autonomous Driving — see the paper on arXiv:2509.25944 .
Framework
Dataset Structure… See the full description on the dataset page: https://huggingface.co/datasets/TUM-AVS/Nurisk-ICRA2026.NOAA-PIFSC-ESD-ESA-CORAL-ICRA-Dataset
Dataset Card for NOAA-PIFSC-ESD-ESA-CORAL-ICRA-Dataset
Dataset Details
Dataset Description
This dataset contains annotated benthic coral reef imagery of Isopora crateriformis (ICRA) coral species. The dataset is formatted for object detection tasks.
Bounding box annotations for ICRA coral colonies
Stratified train/validation/test splits for robust model evaluation
License: Public Domain (NOAA Open Data Public Access)
Dataset Composition:
Total… See the full description on the dataset page: https://huggingface.co/datasets/NMFS-OSI/NOAA-PIFSC-ESD-ESA-CORAL-ICRA-Dataset.ICRA2023maniksill-multitask-success100rollout_benchmark_icra_mix_36_sim_64_realThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/vasco281204/rollout_benchmark_icra_mix_36_sim_64_real.icra_video_1_20260918_154830This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/saipuneethgottam/icra_video_1_20260918_154830.isaac-gr00t-ikea-training-report
Isaac GR00T IKEA training report
Portable export of the W&B run unitree_g1_ikea_batch32_20260730. The run stopped after a clean host
shutdown; the last W&B metric is step 31,750 and the
last complete checkpoint is 31,000.
Summary
First logged training loss: 1.4667
Last logged training loss: 0.1256
Lowest 1,000-step rolling loss: 0.1249 at step 31,750
Mean GPU compute utilization: 51.8%
Mean allocated GPU memory: 29.0%
Provisional checkpoint choice: 30,000… See the full description on the dataset page: https://huggingface.co/datasets/ICRA-Competitions/isaac-gr00t-ikea-training-report.rollout_ACT_icra_2026_MIX36_sim_12_09_2026_v3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/khoavucao2511/rollout_ACT_icra_2026_MIX36_sim_12_09_2026_v3.icra_vista_randomview_2_20260919_180033This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/saipuneethgottam/icra_vista_randomview_2_20260919_180033.benchmark_icra_mix82This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/vasco281204/benchmark_icra_mix82.Lumos-UMIicra_base_origview_20260919_171924This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/saipuneethgottam/icra_base_origview_20260919_171924.icra_infonova_randomview_sort_20260919_181016This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/saipuneethgottam/icra_infonova_randomview_sort_20260919_181016.icra_0526_compound_relThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 15,
"features": {
"action": {
"dtype": "float32",
"names": [
"right_arm_0",
"right_arm_1",
"right_arm_2",
"right_arm_3",
"right_arm_4",
"right_arm_5",
"right_arm_6",
"left_arm_0"… See the full description on the dataset page: https://huggingface.co/datasets/rainbowrobotics/icra_0526_compound_rel.icra_infonova_randomview_sort_20260919_183136This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/saipuneethgottam/icra_infonova_randomview_sort_20260919_183136.icraicra_base_pp3_20260920_184140This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/saipuneethgottam/icra_base_pp3_20260920_184140.icra_base_pp2_20260920_191444This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/saipuneethgottam/icra_base_pp2_20260920_191444.icra_vista_randomview_20260919_175801This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/saipuneethgottam/icra_vista_randomview_20260919_175801.beaver-icra2027-supplementary-videosicra_vista_pp3_20260920_184517This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/saipuneethgottam/icra_vista_pp3_20260920_184517.icra_infnova_pp2_20260920_191038This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/saipuneethgottam/icra_infnova_pp2_20260920_191038.rollout_benchmark_icra_mix_36_sim_64_real_20260804_174053This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/vasco281204/rollout_benchmark_icra_mix_36_sim_64_real_20260804_174053.icra_infonova_randomview_sweep_20260919_180529This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/saipuneethgottam/icra_infonova_randomview_sweep_20260919_180529.rollout_icra_mix64_35_real_grid_20260804_134359This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/vasco281204/rollout_icra_mix64_35_real_grid_20260804_134359.rollout_benchmark_icra_RealThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/vasco281204/rollout_benchmark_icra_Real.