datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
isaaclab-libero-7d
IsaacLab LIBERO 7D LeRobot Dataset
This dataset is a 7D axis-angle LeRobot-format conversion of the IsaacLab LIBERO task-space dataset.
Source
Original local source dataset:
/home/chefmate/Astribot/datasets/Isaaclab_Libero/lerobot_task_space/all_libero_suites
Converted from 8D task-space representation:
xyz(3) + quat_wxyz(4) + gripper(1)
Target 7D representation:
xyz(3) + axis_angle(3) + gripper(1)
Format
This dataset follows the LeRobot directory layout:… See the full description on the dataset page: https://huggingface.co/datasets/Jimmy061/isaaclab-libero-7d.Isaaclab-so101_11task_openpi_v21Isaaclab_Liberounitree_sim_isaaclab_usdsIsaacLab-Arena_RoboTwin_Dataisaaclab-manipulation-objectsisaaclab-pickplacecube-so101-1000epis-no-randomize
Isaaclab Pickplacecube So101 Vlm True1000 Noappearance
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Pick up the red block and place it on the blue dish."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 30 fps
Episodes: 1000 (1,085,294 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/isaaclab-pickplacecube-so101-1000epis-no-randomize.push_block_isaaclabIsaacLab-Stack-Cube-Data📊 Basic Information
Total Demos: 147
Total Frames: 53,265
FPS: 20 Hz (time interval dt = 0.05 s)
Robot Type: Franka Panda
Data Format: LeRobot v2.0
📷 Image Information
Dual-camera setup: Front camera + Wrist camera
Image resolution: 256×256 RGB (3 channels)
🎯 Action and State Dimensions
Action dimension: 7D (relative end-effector pose control)
State dimension: 8D (absolute end-effector pose state)
📈 Demo Length Analysis
Frame range: 240–588 frames
Average frames: 362.3 frames… See the full description on the dataset page: https://huggingface.co/datasets/RLinf/IsaacLab-Stack-Cube-Data.isaaclab_ur7e_3task_fixed
isaaclab_ur7e_3task_fixed
Fixed LeRobot v3.0 datasets for the UR7e + RH5DG2 Isaac Lab tasks. TWO action conventions coexist, one folder set each;
state / videos / prompts are identical between them, only action[:, 0:6] differs.
folder
arm action (dims 0..5)
hand action (dims 6..18)
eval execution
grasp_pan/, pour_cup/, cup_hang/
ABSOLUTE joint targets [rad] (= next recorded joint position)
default-relative offsets (default = 0)
ARM_ACTION=joint HAND_ABSOLUTE=0… See the full description on the dataset page: https://huggingface.co/datasets/DexSteer/isaaclab_ur7e_3task_fixed.IsaacLab-Arena_RoboDojo_Assets
IsaacLab-Arena × RoboDojo Assets
Assets for evaluating RoboDojo dual-arm tasks on IsaacLab-Arena with the ARX X5 (dual_x5) embodiment.
Contents
Path
Description
Embodiment/x5/
ARX X5 dual-arm robot USD / meshes
texture/
Dome / material textures used by eval
Layouts/RoboDojo/
Scene layouts for 10 RoboDojo tasks
Objects/RoboDojo/
Object USD instances referenced by those layouts
Tasks
build_tower, classify_objects… See the full description on the dataset page: https://huggingface.co/datasets/littleTang/IsaacLab-Arena_RoboDojo_Assets.IsaacLab-SO101-Phase1-turn_off_lever-80episode
Isaaclab So101 Phase1 Turn Off Lever 80Episode
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Turn the lever off; the status indicator should turn red."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 80 (26,857 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/IsaacLab-SO101-Phase1-turn_off_lever-80episode.Franka-13tasks_isaaclabIsaaclab-so101_11task_baseCaP_3300epi
Scrape Isaaclab Atomic11 So101 3300Ep
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Tasks: 11
Task Mix
Task
Episodes
Success rate
Instruction
pick_place
300
97.25%
Pick up the red block and place it on the blue dish.
sort_by_color
300
58.55%
Sort the blocks onto the matching colored dishes.
stack_2_cubes
300
77.16%
Stack the top block on the base block.… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/Isaaclab-so101_11task_baseCaP_3300epi.isaaclab-ur7e-pour_cupThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 50,
"features": {
"observation.images.third_person": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channel",
"height",
"width"
],
"info": {… See the full description on the dataset page: https://huggingface.co/datasets/DexSteer/isaaclab-ur7e-pour_cup.isaaclab-ur7e-grasp_panThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 50,
"features": {
"observation.images.third_person": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channel",
"height",
"width"
],
"info": {… See the full description on the dataset page: https://huggingface.co/datasets/DexSteer/isaaclab-ur7e-grasp_pan.isaaclab_ur7e_lerobot_datasets_groot_v21
isaaclab_ur7e_lerobot_datasets_groot_v21
LeRobot v2.1 exports (per-episode parquet + mp4, meta/modality.json included) for NVIDIA Isaac GR00T N1.x training.
One sub-folder per task; each sub-folder is a complete, self-contained LeRobot v2.1 dataset.
sub-folder
task
episodes
frames
source (LeRobot v3.0)
pour_cup_clean/
Grasp the cup, lift it, and pour it out.
150
69,642
DexSteer/isaaclab-ur7e-pour_cup_clean
grasp_pan_clean/
Grasp the frying pan by its handle and… See the full description on the dataset page: https://huggingface.co/datasets/DexSteer/isaaclab_ur7e_lerobot_datasets_groot_v21.so101_place_orange_isaaclabThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 83,
"total_frames": 20300,
"total_tasks": 1,
"total_videos": 166,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:83"
},
"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/EverNorif/so101_place_orange_isaaclab.isaaclab-harl-datasetThe link to the paper is here -> https://huggingface.co/papers/2510.01264.
IsaacLab-SO101_sort_by_color_baseCaP_300epi
Isaaclab So101 Sort By Color Basecap 300Epi
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Tasks: 244
Tasks
Sort the purple, pink, and green blocks onto the matching colored dishes.
Sort the red, green, and black blocks onto the matching colored dishes.
Sort the purple, black, and orange blocks onto the matching colored dishes.
Sort the yellow, orange, and blue blocks onto… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/IsaacLab-SO101_sort_by_color_baseCaP_300epi.isaaclab_two_cube_counterfactual_gr00tIsaacLab-Stack-Cube-Data📊 Basic Information
Total Demos: 147
Total Frames: 53,265
FPS: 20 Hz (time interval dt = 0.05 s)
Robot Type: Franka Panda
Data Format: LeRobot v2.0
📷 Image Information
Dual-camera setup: Front camera + Wrist camera
Image resolution: 256×256 RGB (3 channels)
🎯 Action and State Dimensions
Action dimension: 7D (relative end-effector pose control)
State dimension: 8D (absolute end-effector pose state)
📈 Demo Length Analysis
Frame range: 240–588 frames
Average frames: 362.3 frames… See the full description on the dataset page: https://huggingface.co/datasets/kuai-zi/IsaacLab-Stack-Cube-Data.pick_place_franka_isaaclab_dataset
IsaacLab Franka Pick-Place and Reaching for SimVLA
This repository contains a compressed HDF5 dataset exported from IsaacLab episodes for SimVLA fine-tuning.
The data is intended for local training with the SimVLA/SmolVLM data loaders used in this project. It is not stored in a Hugging Face datasets table format; the Hub viewer is disabled because the payload consists of large HDF5 shards.
Summary
Robot/task family: Franka manipulation in IsaacLab.
Tasks:… See the full description on the dataset page: https://huggingface.co/datasets/gontary/pick_place_franka_isaaclab_dataset.IsaacLab-SO101_push_cube_baseCaP_300epi
Isaaclab So101 Push Cube Basecap 300Epi
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Tasks: 101
Tasks
Push the blue cube to the cyan target marker without picking it up.
Push the green cube to the red target marker without picking it up.
Push the gray cube to the black target marker without picking it up.
Push the purple cube to the red target marker without picking it up.… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/IsaacLab-SO101_push_cube_baseCaP_300epi.isaaclab-ur7e-tasks-500This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ur7e_rh5dg2",
"total_episodes": 500,
"total_frames": 246232,
"total_tasks": 4,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:500"
},
"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/DexSteer/isaaclab-ur7e-tasks-500.teleop_isaaclab_ur5_insert_success_6_demoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "isaaclab_ur5",
"total_episodes": 4,
"total_frames": 4635,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:4"
},
"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/DORLR/teleop_isaaclab_ur5_insert_success_6_demo.Isaaclab-so101_11task_baseCaP_3300epi_10fps
IsaacLab SO101 11-Task baseCaP Dataset (3300 Episodes, 10 FPS)
LeRobot v3.0 dataset derived from
CoRL2026-CSI/Isaaclab-so101_11task_baseCaP_3300epi by keeping every third
episode-local source frame (frame_index % 3 == 0) and rebuilding each
episode's frame_index, timestamp, and global index for 10 FPS playback.
Dataset Summary
Field
Value
Episodes
3,300
Frames
1,175,352
FPS
10
Source FPS
30
Source frames
3,522,774
Robot
so101_follower
Format… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/Isaaclab-so101_11task_baseCaP_3300epi_10fps.isaaclab-ur7e-kitchen-pan-mimic-shoulderRThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 50,
"features": {
"observation.images.third_person": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channel",
"height",
"width"
],
"info": {… See the full description on the dataset page: https://huggingface.co/datasets/DexSteer/isaaclab-ur7e-kitchen-pan-mimic-shoulderR.IsaacLab-SO101-Phase1PlusPhase2-sort_by_color-100episode-10fps
Isaaclab So101 Phase1Plusphase2 Sort By Color 100Episode 10Fps
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Sort the blocks onto the matching colored dishes."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 100 (85,450 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)… See the full description on the dataset page: https://huggingface.co/datasets/CoRL2026-CSI/IsaacLab-SO101-Phase1PlusPhase2-sort_by_color-100episode-10fps.isaaclab-ur7e-cup_hangThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 50,
"features": {
"observation.images.third_person": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channel",
"height",
"width"
],
"info": {… See the full description on the dataset page: https://huggingface.co/datasets/DexSteer/isaaclab-ur7e-cup_hang.