datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
PhysicalAI-Robotics-Manipulation-Kitchen-Demos
PhysicalAI-Robotics-Manipulation-Kitchen-Demos
We provide a 600 hours of human-teleoperated demonstrations across 316 different tasks, totalling 55k trajectories.
The datasets are collected using Franka Panda robot with an Omron mobile base.
The datasets follow the LeRobot format. Here is an overview of important elements of each dataset:
Click to expand dataset structure
lerobot/
├── meta/ # Metadata files describing the dataset
│ ├── info.json… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Kitchen-Demos.epic_kitchens_100
Motivation
The actual download link is very slow, including the academic torrent. Therefore, to spare fellow community members from this misery, I am uploading the dataset here.
Source
You can fnd the original source to download the dataset: https://github.com/epic-kitchens/epic-kitchens-download-scripts
Citation
@INPROCEEDINGS{Damen2018EPICKITCHENS,
title={Scaling Egocentric Vision: The EPIC-KITCHENS Dataset},
author={Damen, Dima and Doughty, Hazel and… See the full description on the dataset page: https://huggingface.co/datasets/awsaf49/epic_kitchens_100.EPIC-KITCHENSepic_kitchens_100
EPIC-KITCHENS-100 (Mirror)
This repository provides a mirror of the EPIC-KITCHENS-100 dataset videos for easier access and high-speed downloading via the Hugging Face Hub.
Important Note
This mirror is uploaded for personal convenience and may not contain the entire dataset. If you need the full, official, and most up-to-date version of the dataset (including all annotations and subsets), please visit the official website.
Official Links
Official… See the full description on the dataset page: https://huggingface.co/datasets/a1raman/epic_kitchens_100.epic-kitchens-100-clips
EPIC-KITCHENS-100 Extracted Clips
About
Dataset of 37455 video clips (24GB) extracted from videos in the EPIC-KITCHENS-100 dataset,
more precisely the extension part not contained in EPIC-KITCHENS-55. For details,
see https://www.lightly.ai/product-updates/epickitchens-100-in-lightlystudio.
The clips folder contains one video for every narration from action annotations stored
in {participant_id}/{narration_id}.mp4. The videos have been downscaled an compressed for easier… See the full description on the dataset page: https://huggingface.co/datasets/lightly-ai/epic-kitchens-100-clips.kitchen_rack_combo_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "yam_bimanual",
"total_episodes": 200,
"total_frames": 266498,
"total_tasks": 1,
"total_videos": 600,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:200"
},
"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/YOLO2431/kitchen_rack_combo_v2.kitchen_rack_comboThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "yam_bimanual",
"total_episodes": 196,
"total_frames": 258673,
"total_tasks": 1,
"total_videos": 588,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:196"
},
"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/YOLO2431/kitchen_rack_combo.kitchen-workspace-understanding-safe-manipulation
Kitchen Workspace Understanding & Safe Manipulation
Generated by datapack-import.ts
This dataset mirrors public data-pack render outputs from Physicl.
Each row represents one render view. The image column contains a stable URL to the primary render image uploaded under /data; image_path stores the relative repository path and data_commit_sha pins the Hugging Face dataset commit used by those URLs. Files are uploaded as downloaded unless optional PNG recompression is enabled by… See the full description on the dataset page: https://huggingface.co/datasets/physicl/kitchen-workspace-understanding-safe-manipulation.strands-kitchen-stereo4d
🍳 Kitchen Stereo4D Dataset
Stereo depth + spatial audio pick-and-place dataset generated by strands-robots on NVIDIA Jetson AGX Thor
Overview
This dataset contains synchronized stereo RGB, metric depth maps, 3D point clouds,
and binaural spatial audio from robot manipulation tasks in a kitchen environment.
Metric
Value
Episodes
10
Total Frames
501
Resolution
640×480
Stereo Baseline
50mm
FPS
30
Robot
Franka Emika Panda (simplified)
GPU
NVIDIA Thor… See the full description on the dataset page: https://huggingface.co/datasets/cagataydev/strands-kitchen-stereo4d.taste-rob-kitchen-15553-to-19760
TASTE-Rob Kitchen_15553_to_19760 Video Dataset
This dataset contains 1787 videos from the Kitchen_15553_to_19760 scene of TASTE-Rob dataset.
Usage
from huggingface_hub import hf_hub_download
# Download a specific video
video_path = hf_hub_download(
repo_id="charlychan123/taste-rob-kitchen-15553-to-19760",
filename="video_name.mp4",
repo_type="dataset"
)
Citation
If you use this dataset, please cite the original TASTE-Rob paper.
AgiBotWorld-Beta_G1_task_510_Stack_the_dishcloth_on_the_kitchen_countertop
agibot_task_510
This dataset converts the AgiBot format uniformly into LeRobot V3.0.
Dataset Statistics
robot_name: G1
end_effector: 夹爪
task: 把洗碗布叠在厨房台面上
total_episodes: 1465
total_tasks: 1
size: 102G
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├── info.json
│ ├── stats.json
│ └── tasks.parquet
└── videos
├──… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_510_Stack_the_dishcloth_on_the_kitchen_countertop.PhysicalAI-SimReady-Kitchens-v2Robocasa-Kitchen_300PhysicalAI-Robotics-Manipulation-Objects-Kitchen-MJCF
Manipulation Objects Kitchen MJCF
We provide a collection of digital 3D mjcf assets intended for use in a simulated kitchen environment.
The assets are broadly divided into 2 categories: fixtures and objects. The fixture assets are comprised of interactable kitchen appliances such as stoves, microwaves, and ovens. The object assets consist of common kitchen objects such as saucepans and glass cups.
Preview
Objects
Fixtures
Objects… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Objects-Kitchen-MJCF.PhysicalAI-Robotics-Manipulation-Kitchen
PhysicalAI Robotics Manipulation in the Kitchen
Dataset Description:
PhysicalAI-Robotics-Manipulation-Kitchen is a dataset of automatic generated motions of robots performing operations such as opening and closing cabinets, drawers, dishwashers and fridges. The dataset was generated in IsaacSim leveraging reasoning algorithms and optimization-based motion planning to find solutions to the tasks automatically [1, 3]. The dataset includes a bimanual manipulator built with… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Kitchen.kitchen_rack_combo_v2_spoon_onlyThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "yam_bimanual",
"total_episodes": 183,
"total_frames": 75265,
"total_tasks": 1,
"total_videos": 549,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:183"
},
"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/YOLO2431/kitchen_rack_combo_v2_spoon_only.dp-data-kitchenKIT_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}
}
PhysicalAI-Simready-Kitchen-Assets
PhysicalAI SimReady Kitchen Assets
The source asset library behind the PhysicalAI SimReady Kitchens scene
datasets: the textures, environment maps and SimReady models that the
generator composes into procedurally-varied kitchen scenes.
This repo holds the ingredients, not the scenes. For the generated scenes
themselves, see the companion dataset
imagine-io/PhysicalAI-SimReady-Kitchens-v1.
Why this repo exists
Generated scenes used to be fully self-contained —… See the full description on the dataset page: https://huggingface.co/datasets/imagine-io/PhysicalAI-Simready-Kitchen-Assets.so100_kitchenThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 3,
"total_frames": 1166,
"total_tasks": 1,
"total_videos": 9,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:3"
},
"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/VoicAndrei/so100_kitchen.epic_kitchens_100
EPIC-KITCHENS-100 (Mirror)
This repository provides a mirror of the EPIC-KITCHENS-100 dataset videos for easier access and high-speed downloading via the Hugging Face Hub.
Important Note
This mirror is uploaded for personal convenience and may not contain the entire dataset. If you need the full, official, and most up-to-date version of the dataset (including all annotations and subsets), please visit the official website.
Official Links
Official… See the full description on the dataset page: https://huggingface.co/datasets/angrymelly0/epic_kitchens_100.epic_kitchens_100
EPIC-KITCHENS-100 (Mirror)
This repository provides a mirror of the EPIC-KITCHENS-100 dataset videos for easier access and high-speed downloading via the Hugging Face Hub.
Important Note
This mirror is uploaded for personal convenience and may not contain the entire dataset. If you need the full, official, and most up-to-date version of the dataset (including all annotations and subsets), please visit the official website.
Official Links
Official… See the full description on the dataset page: https://huggingface.co/datasets/introvoyz042/epic_kitchens_100.tommyzihao_kitchenware_grasp
TommyZihao Kitchenware Grasp
LeRobot dataset uploaded from the local plate collection.
Codebase version: v3.0
Robot type: so_follower
FPS: 30
Episodes: 100
Frames: 32670
Tasks: 1
This dataset uses the LeRobot v3 layout with meta, data, and videos directories.
AgiBotWorld-Beta_G1_task_494_Organize_the_seasonings_on_the_kitchen_counter
agibot_task_494
This dataset converts the AgiBot format uniformly into LeRobot V3.0.
Dataset Statistics
robot_name: G1
end_effector: 夹爪
task: 整理厨房柜台的调味料
total_episodes: 614
total_tasks: 1
size: 67G
Dataset Structure
├── data
│ └── chunk-xxx
│ ├── file-xxx.parquet
├── meta
│ ├── episodes
│ │ └── chunk-xxx
│ │ └── file-xxx.parquet
│ ├── info.json
│ ├── stats.json
│ └── tasks.parquet
└── videos
├──… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_494_Organize_the_seasonings_on_the_kitchen_counter.kitchen_utensils_5k
Kitchen Utensils Dataset (5K Images)
Dataset Description
This dataset contains 5,000 images of kitchen utensils for object detection/classification.
Classes (10 total):
bowl
fork
glass
knife
mug
pan
plate
spatula
spoon
whisk
Dataset Structure
Train: ~3,500 images
Validation: ~1,000 images
Test: ~500 images
File Format
Images: JPG format
Annotations: CSV file with binary labels for each class
metadata.csv: Combined metadata for all… See the full description on the dataset page: https://huggingface.co/datasets/rypow/kitchen_utensils_5k.Epic_Kitchenucsd_kitchen_datasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 150,
"total_frames": 3970,
"total_tasks": 8,
"total_videos": 150,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:150"
},
"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/ucsd_kitchen_dataset.epic_kitchens_100_256p
EPIC-KITCHENS-100 — 256p downsampled RGB videos
A re-encoded copy of the EPIC-KITCHENS-100 RGB video files,
scaled to 256-pixel short side using ffmpeg
(scale=-2:256, libx264 -preset ultrafast -crf 28, audio stripped).
This mirror exists to save the long download+downsample workflow
for researchers running EK100 evaluations that only need 256-pixel
input
Folder layout
P01/
videos/
P01_01.MP4 (original EK55 series, downsampled to 256p)
P01_02.MP4
...… See the full description on the dataset page: https://huggingface.co/datasets/mohammad2012191/epic_kitchens_100_256p.ours_kitchenware_downsampled_ours_1_3KIT_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}
}