datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
metaworldmetaworld_mt50This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "metaworld",
"total_episodes": 2500,
"total_frames": 204806,
"total_tasks": 50,
"chunks_size": 1000,
"fps": 80,
"splits": {
"train": "0:2500"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/metaworld_mt50.Evo1_MetaWorld_Datasetvisual_masked_distracting_metaworld
Visual Masked Distracting Meta-World (ground-truth masks)
Author: Georgios Tsakoumakis
Thesis: Interaction-Masked Latent Action Models for Object-Aware Manipulation under Visual Distractors (MSc, Imperial College London)
Expert Meta-World manipulation trajectories rendered with dynamic video-background
distractors, augmented with ground-truth segmentation masks and pose for the
manipulated object: the agent mask plus two per-frame fields, object_mask and
object_state.
All… See the full description on the dataset page: https://huggingface.co/datasets/tsakman23/visual_masked_distracting_metaworld.visual_distracting_metaworld
Visual Distracting Meta-World with Agent Masks
Visual Distracting Meta-World with Agent Masks contains successful expert
trajectories for all 50 Meta-World
MT50 v3 manipulation tasks. Every visual observation includes agent masks: a
ground-truth robot-arm mask obtained from the simulator, a SAM 2.1
mask predicted from the clean observation, and a separate SAM 2.1 mask predicted
from the distracted observation. Each step pairs these masks with the same
underlying simulator state… See the full description on the dataset page: https://huggingface.co/datasets/EpicPinkPenguin/visual_distracting_metaworld.metaworld_ml45-v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "metaworld",
"total_episodes": 4391,
"total_frames": 358997,
"total_tasks": 44,
"total_videos": 0,
"total_chunks": 5,
"chunks_size": 1000,
"fps": 80,
"splits": {
"train": "0:4391"
},
"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/brandonyang/metaworld_ml45-v2.metaworld_mt50This dataset was created using LeRobot.
Dataset Description
This dataset contains 50 demonstrations per task from the Meta-world simulation benchmarks. Demonstrations are generated using expert policies.
Meta-world: https://arxiv.org/abs/1910.10897
We reposition the camera and flip the rendered images as follow:
Homepage: [More Information Needed]
Paper: [More Information Needed]
License: apache-2.0
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/ML-GOD/metaworld_mt50.visual_masked_distracting_metaworld_sam
Visual Masked Distracting Meta-World (ground-truth + SAM masks)
Author: Georgios Tsakoumakis
Thesis: Interaction-Masked Latent Action Models for Object-Aware Manipulation under Visual Distractors (MSc, Imperial College London)
Expert Meta-World manipulation trajectories rendered with dynamic video-background
distractors, carrying both ground-truth and SAM-predicted segmentation masks for the
agent and the manipulated object, plus the manipulated object's pose.
This is the SAM… See the full description on the dataset page: https://huggingface.co/datasets/tsakman23/visual_masked_distracting_metaworld_sam.visual_distracting_metaworld_with_masksmetaworld_mt50This dataset was created using LeRobot.
Dataset Description
This dataset contains 50 demonstrations per task from the Meta-world simulation benchmarks. Demonstrations are generated using expert policies.
Meta-world: https://arxiv.org/abs/1910.10897
We reposition the camera and flip the rendered images as follow:
Homepage: [More Information Needed]
Paper: [More Information Needed]
License: apache-2.0
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/HuggingFaceVLA/metaworld_mt50.meta-worldThis repository contains the Meta-World datasets as used in Learning to Modulate Pre-trained Models in RL:
The 2M folder contains trajectories (2M transitions) for every task are stored as separate .npz.
The 2M_separate folder contains the same data, but every trajectory is stored as a separate .hdf5 file and every task is stored as a .tar.gz file.
Download the dataset using the huggingface-cli:
huggingface-cli download ml-jku/meta-world --local-dir=./meta-world --repo-type dataset
For… See the full description on the dataset page: https://huggingface.co/datasets/ml-jku/meta-world.pi0fast-metaworld-activations-v1-ml45train-16envmetaworld_bin_transfer_disk_obstacle_randomized_noise005_3200eps
MetaWorld Bin Transfer Disk Obstacle Randomized Noise005 3200eps
This dataset contains scripted MetaWorld demonstrations for a two-bin colored-block transfer task with a visible green disk between the red and blue bins. The disk is an imaginary obstacle: in avoid-disk tasks the held block is not allowed above the disk, while in no-avoid tasks the same disk remains visible but the prompt explicitly says it does not need to be avoided.
High-Level Facts
HF repo:… See the full description on the dataset page: https://huggingface.co/datasets/ccwatson/metaworld_bin_transfer_disk_obstacle_randomized_noise005_3200eps.Evo1_MetaWorld_Datasetmetaworld_mt10This dataset was created using LeRobot.
Dataset Description
NOTE:
All expert trajectories (100% success rate)
50 total episodes
Camera view: 3rd-person Corner2 only out of ["corner", "corner2", "corner3", "topview", "behindGripper"]
Generator script can be found here: https://github.com/aadarshram/lerobot/blob/MultiTask/src/lerobot/scripts/generate_MetaWorld_datasets.py
Homepage: [More Information Needed]
Paper: [More Information Needed]
License: apache-2.0… See the full description on the dataset page: https://huggingface.co/datasets/aadarshram/metaworld_mt10.nemotron-vla-metaworld
Nemotron-VLA MetaWorld Expert Demonstrations
Expert demonstration dataset for training Vision-Language-Action (VLA) models on MetaWorld robot manipulation tasks.
Built for the Nemotron-VLA project.
Dataset Summary
Stat
Value
Tasks
50 MetaWorld environments
Total transitions
187,252
Camera
corner2 (third-person view)
Expert policy
MetaWorld built-in scripted policies
Image format
PNG (compressed)
Data Fields
Field
Type… See the full description on the dataset page: https://huggingface.co/datasets/keivalya/nemotron-vla-metaworld.metaworld_mt50This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 2500,
"total_frames": 204806,
"total_tasks": 49,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 80,
"splits": {
"train": "0:2500"
},
"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/BrunoM42/metaworld_mt50.metaworldThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "metaworld",
"total_episodes": 2500,
"total_frames": 204806,
"total_tasks": 49,
"total_videos": 0,
"total_chunks": 3,
"chunks_size": 1000,
"fps": 80,
"splits": {
"train": "0:2500"
},
"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/jadechoghari/metaworld.metaworld_mt50_jpegThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "metaworld",
"total_episodes": 2500,
"total_frames": 204806,
"total_tasks": 49,
"chunks_size": 1000,
"fps": 80,
"splits": {
"train": "0:2500"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"… See the full description on the dataset page: https://huggingface.co/datasets/HecklesL/metaworld_mt50_jpeg.metaworld_mt50_videoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "metaworld",
"total_episodes": 2500,
"total_frames": 204806,
"total_tasks": 49,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 80,
"splits": {
"train": "0:2500"
},
"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/reece-omahoney/metaworld_mt50_video.metaworld_mt50_push_v2_imageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "metaworld",
"total_episodes": 100,
"total_frames": 6125,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 80,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/metaworld_mt50_push_v2_image.metaworld_mt10_roboe_textureThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 500,
"total_frames": 46327,
"total_tasks": 10,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 80,
"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/Beegbrain/metaworld_mt10_roboe_texture.metaworld_mt10_gen_sam3_masksThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 500,
"total_frames": 46327,
"total_tasks": 10,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 80,
"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/Beegbrain/metaworld_mt10_gen_sam3_masks.metaworld_train_40This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "baxter",
"total_episodes": 2000,
"total_frames": 151300,
"total_tasks": 40,
"total_videos": 0,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 80,
"splits": {
"train": "0:2000"
},
"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/mishmish66/metaworld_train_40.metaworld_augmentedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 1000,
"total_frames": 92654,
"total_tasks": 10,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 80,
"splits": {
"train": "0:1000"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": null… See the full description on the dataset page: https://huggingface.co/datasets/Beegbrain/metaworld_augmented.metaworld_mt50_lerobot21This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "metaworld",
"total_episodes": 2500,
"total_frames": 204806,
"total_tasks": 49,
"total_videos": 0,
"total_chunks": 3,
"chunks_size": 1000,
"fps": 80,
"splits": {
"train": "0:2500"
},
"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/DorayakiLin/metaworld_mt50_lerobot21.metaworld_ml45This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "metaworld",
"total_episodes": 24,
"total_frames": 1707,
"total_tasks": 6,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 80,
"splits": {
"train": "0:24"
},
"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/brandonyang/metaworld_ml45.metaworld_mt10_roboe_engineThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 500,
"total_frames": 46327,
"total_tasks": 10,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 80,
"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/Beegbrain/metaworld_mt10_roboe_engine.metaworld_dataset_v2.1metaworld_train_5This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "baxter",
"total_episodes": 250,
"total_frames": 19897,
"total_tasks": 5,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 80,
"splits": {
"train": "0:250"
},
"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/mishmish66/metaworld_train_5.