datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
PENCILAI2_Alphabot_2_organize_pencil_holder
AI2_Alphabot_2_organize_pencil_holder
Dataset Description
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Task Preview
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Overview
Total Episodes: 392
Total Frames: 323948
FPS: 30
Dataset Size: 17.18 GB
Robot Name: AI2_Alphabot_2
End-Effector Type: two_finger_end_effector
Teleoperation Type: vr_controller
Sensors: cam_front_chest_rgb,
cam_front_head_rgb… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/AI2_Alphabot_2_organize_pencil_holder.G1_Dex1_Pack_PencilBoxThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex1_Pack_PencilBox.Agilex_Cobot_Magic_move_pencil_sharpener
Agilex_Cobot_Magic_move_pencil_sharpener
Dataset Description
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Task Preview
View Video Directly
Overview
Total Episodes: 98
Total Frames: 41602
FPS: 30
Dataset Size: 374.66 MB
Robot Name: Agilex_Cobot_Magic
End-Effector Type: two_finger_gripper
Teleoperation Type: Due to some reasons, this dataset temporarily cannot provide the… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/Agilex_Cobot_Magic_move_pencil_sharpener.aloha_static_pro_pencilThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 25,
"total_frames": 8750,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:25"
},
"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_static_pro_pencil.Backeval_pencil_caseThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_tactile_follower",
"total_episodes": 17,
"total_frames": 37242,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:17"
},
"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/ydaichi/eval_pencil_case.aloha_static_pro_pencil_rawstationery_dataset_Eraser_scale_pencilG1_Pack_PencilBoxThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/schweppesxu/G1_Pack_PencilBox.SelfForcing-Instance
Self Forcing
Bridging the Train-Test Gap in Autoregressive Video Diffusion
Xun Huang1
·
Zhengqi Li1
·
Guande He2
·
Mingyuan Zhou2
·
Eli Shechtman1
1Adobe Research 2UT Austin
Paper | Website | Models (HuggingFace)
Self Forcing trains autoregressive video diffusion models by simulating the inference process during training, performing autoregressive rollout with KV caching. It resolves the train-test distribution mismatch and enables… See the full description on the dataset page: https://huggingface.co/datasets/PencilHu/SelfForcing-Instance.pencil-puzzle-bench
Pencil Puzzle Bench Dataset
This repository contains the puzzle datasets and benchmark results for Pencil Puzzle Bench.
Read the Paper | Website & Leaderboard
62,231 puzzles across 94 puzzle types with verified unique solutions.
Files
Puzzle Datasets
full_dataset.jsonl - Full dataset (62,231 puzzles)
golden_300.jsonl - 300 puzzles (20 types × 15 each) for standard evaluation
golden_30.jsonl - 30-puzzle subset for expensive/agentic strategies… See the full description on the dataset page: https://huggingface.co/datasets/bluecoconut/pencil-puzzle-bench.so101_pencil_holder_1This 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/nikodembartnik/so101_pencil_holder_1.so101_box_pencil5This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 25,
"total_frames": 9272,
"total_tasks": 1,
"total_videos": 75,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:25"
},
"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/un1c0rnio/so101_box_pencil5.so101_box_pencil2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 25,
"total_frames": 8707,
"total_tasks": 1,
"total_videos": 50,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:25"
},
"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/un1c0rnio/so101_box_pencil2.pencil_pick
pencil_pick
This dataset was generated using a phospho starter pack.
This dataset contains a series of episodes recorded with a robot and multiple cameras. It can be directly used to train a policy using imitation learning. It's compatible with LeRobot and RLDS.
place-pencil-v1
place-pencil-v1
LeRobot v3.0 dataset for YAM robot.
pencil_pick_bboxes
pencil_pick
This dataset was generated using a phospho starter pack.
This dataset contains a series of episodes recorded with a robot and multiple cameras. It can be directly used to train a policy using imitation learning. It's compatible with LeRobot and RLDS.
JAMIETSENGaloha_static_pro_pencil_raweval_so101_box_pencil6_060000This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 21,
"total_frames": 19763,
"total_tasks": 1,
"total_videos": 63,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:21"
},
"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/un1c0rnio/eval_so101_box_pencil6_060000.eval_pencil_case_no_tactileThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_tactile_follower",
"total_episodes": 3,
"total_frames": 7269,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:3"
},
"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/ydaichi/eval_pencil_case_no_tactile.task_table30v2_put_the_pencil_case_into_the_schoolbagG1_Dex1_Pack_PencilBoxThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/adChristianB/G1_Dex1_Pack_PencilBox.so101_pencil_holder_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"… See the full description on the dataset page: https://huggingface.co/datasets/nikodembartnik/so101_pencil_holder_2.bimanual-so101-handover-pencilcaseThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "bi_so100_follower",
"total_episodes": 10,
"total_frames": 8650,
"total_tasks": 1,
"total_videos": 30,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:10"
},
"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/qownscks/bimanual-so101-handover-pencilcase.rollout_so101_pencil_hil_30This 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/joanfox/rollout_so101_pencil_hil_30.eval_act_so101_box_pencil2_060000This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 1,
"total_frames": 869,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1"
},
"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/un1c0rnio/eval_act_so101_box_pencil2_060000.so101_pencil_merged_125This 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/joanfox/so101_pencil_merged_125.so101_pencil_holder_3This 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/nikodembartnik/so101_pencil_holder_3.