datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
leisaac-pick-orangeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 60,
"total_frames": 36293,
"total_tasks": 1,
"total_videos": 120,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:60"
},
"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/LightwheelAI/leisaac-pick-orange.pick_orange_26_02_04_rldsorange-pick-testso101_orange_pick_gr00tn1.5使用leisaac录制的so101在厨房场景中把橘子放进盘子的40条数据
xarm7-pick-orange-ball-largeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height":… See the full description on the dataset page: https://huggingface.co/datasets/zwonzis/xarm7-pick-orange-ball-large.pick_orange_26_02_04_parquetxarm7-pick-orange-ball-hqThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height":… See the full description on the dataset page: https://huggingface.co/datasets/zwonzis/xarm7-pick-orange-ball-hq.leisaac-real-pick-orange
SO-101 Real-Arm Pick Orange — 30 Episodes (LeRobot v3.0)
真机 SO-101 主从臂遥操采集的抓橙子放盘子数据集,30 集人类演示,LeRobot v3.0 格式。
Real-world SO-101 leader-follower teleoperation dataset: pick up an orange and place it on the plate, 30 human demonstrations in LeRobot v3.0 format.
概览 / Overview
项
值
机器人 / Robot
SO-101 follower(6 DoF + 夹爪,leader 臂遥操)
任务 / Task
Pick up the orange and place it on the plate
集数 / Episodes
30
总帧数 / Frames
25,091(30 fps,合计 ~14 min)
单集长度 /… See the full description on the dataset page: https://huggingface.co/datasets/wsagi/leisaac-real-pick-orange.tictac-pick-orange-cubepick-up-orange-block-dualThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 2,
"total_frames": 453,
"total_tasks": 1,
"total_videos": 4,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"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/jtz18/pick-up-orange-block-dual.so101_test_orange_pick_10leisaac-pick-orange-mimic-v0This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 60,
"total_frames": 41891,
"total_tasks": 1,
"total_videos": 120,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:60"
},
"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/Toby0614/leisaac-pick-orange-mimic-v0.so101_orange_pick_gr00tn1.5使用leisaac录制的so101在厨房场景中把橘子放进盘子的40条数据
xarm7-pick-orange-ballThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height":… See the full description on the dataset page: https://huggingface.co/datasets/zwonzis/xarm7-pick-orange-ball.leisaac-pick-orangeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 60,
"total_frames": 36293,
"total_tasks": 1,
"total_videos": 120,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:60"
},
"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/khb2439/leisaac-pick-orange.pick_up_the_orangeomx_f_team10_pick_place_orangeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "omx_f",
"total_episodes": 22,
"total_frames": 13207,
"total_tasks": 1,
"total_videos": 22,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:22"
},
"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/haneulborri/omx_f_team10_pick_place_orange.orange_pick_place_new1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 80,
"total_frames": 86229,
"total_tasks": 1,
"total_videos": 320,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:80"
},
"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/satvikahuja/orange_pick_place_new1.pick_orange_aligned_100
SO101 PickOrange Aligned 100
作者：宇哥的具身笔记
本数据集是在 LeIsaac / Isaac Lab 仿真环境中生成的 SO101 机械臂 PickOrange 任务数据，采用 LeRobot Dataset v3 格式。
数据概览
任务：LeIsaac-SO101-PickOrange-v0
机器人：so101_follower
Episodes：100
Frames：97,600
FPS：30
动作维度：6
状态维度：6
相机：front、wrist
图像尺寸：640 × 480
视频编码：AV1
数据划分：train 0:100
数据结构
data/ 每帧状态、动作、时间戳和索引
meta/ 数据集说明、统计量、任务和 episode 元数据
videos/ front 与 wrist 两路相机视频
主要字段包括：
observation.state：SO101 六维关节状态
action：SO101… See the full description on the dataset page: https://huggingface.co/datasets/YUAI09/pick_orange_aligned_100.eval_pick_red_vs_orange_cube_so101This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 10,
"total_frames": 2197,
"total_tasks": 2,
"total_videos": 20,
"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/zaringleb/eval_pick_red_vs_orange_cube_so101.orange_cube_pick_and_placeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 45,
"total_frames": 29416,
"total_tasks": 1,
"total_videos": 90,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:45"
},
"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/felixmayor/orange_cube_pick_and_place.agilex_pick_orange_into_bagThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "arx5_bimanual",
"total_episodes": 20,
"total_frames": 3012,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 25,
"splits": {
"train": "0:20"
},
"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/villekuosmanen/agilex_pick_orange_into_bag.so101_test_orange_pick_02pick_orange_joint_limitedThis dataset was created using LeRobot.
Dataset Description
A public LeRobot v3 dataset for the SO-101 Pick Orange task. The demonstrations were generated in LeIsaac / Isaac Sim and are intended for simulation-to-simulation (sim2sim) training and evaluation. The dataset contains joint-position actions, robot state, wrist RGB video, and front RGB video. It has not been validated for direct sim-to-real deployment.
Homepage: https://github.com/LightwheelAI/leisaac
Paper: [More… See the full description on the dataset page: https://huggingface.co/datasets/Aikwed/pick_orange_joint_limited.pick_up_orange_lego_from_five_location
pick_up_orange_lego_from_five_location
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.
pick-orange-919_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 10,
"total_frames": 6000,
"total_tasks": 1,
"total_videos": 10,
"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/miyen/pick-orange-919_2.smolvla-so101-pick-orange-data
SO101 Pick Orange — Teleoperation Dataset
Teleoperated demonstrations of a SO101 robot arm picking three oranges and placing them on a plate in NVIDIA Isaac Sim.
Dataset Details
Property
Value
Robot
SO101 (6-DOF, Feetech STS3215)
Task
Pick 3 oranges → place on plate → return to rest
Environment
NVIDIA Isaac Sim 5.1.0 (kitchen scene)
Teleop Device
SO101 leader arm (ZMQ, 50Hz)
Format
LeRobot v3.0
FPS
30
Episodes
100
Total Frames
60,541… See the full description on the dataset page: https://huggingface.co/datasets/edge-inference/smolvla-so101-pick-orange-data.pickOrange_generated50pick-orange-919_4This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 30,
"total_frames": 8986,
"total_tasks": 1,
"total_videos": 30,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:30"
},
"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/miyen/pick-orange-919_4.eval_pick_yellow_vs_red_or_orange_cube_so101This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 20,
"total_frames": 3878,
"total_tasks": 2,
"total_videos": 40,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:20"},
"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/zaringleb/eval_pick_yellow_vs_red_or_orange_cube_so101.