datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
svla_so101_pickplaceThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100_follower",
"total_episodes": 50,
"total_frames": 11939,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:50"
},
"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/svla_so101_pickplace.svla_so100_pickplaceThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 50,
"total_frames": 19631,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:50"
},
"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/svla_so100_pickplace.EgoDex-PickPlace-YAM-14dof-multiview
EgoDex → YAM 14-DOF, Multiview (LeRobot v2.1)
Egocentric human hand-manipulation demonstrations from EgoDex retargeted to a
YAM bimanual robot (14-DOF), packaged as a LeRobot v2.1 dataset with three
synthesized camera views. The observation schema is drop-in compatible with
angkul07/abc-teleop for
cotraining (identical Hz, camera keys, and action convention).
At a glance
Episodes
8,842
Frames
1,074,893
Control rate
30 Hz (30 fps video)
Robot
YAM… See the full description on the dataset page: https://huggingface.co/datasets/angkul07/EgoDex-PickPlace-YAM-14dof-multiview.pickplace_skills_v3_1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101",
"total_episodes": 380,
"total_frames": 236621,
"total_tasks": 5,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:380"
},
"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/zwan1003/pickplace_skills_v3_1.pick_place_bread
pick_place_bread
双臂 Flexiv 数据采集数据集，任务指令：Pick up the bread and place it on the plate。
Episodes: 30 (episode_0000–episode_0029)
Total frames: 14355
Recording rate: 30 Hz
Control rate: 100 Hz
Each episode contains three camera image streams, synchronized frame index, robot state JSONL, joint-position CSVs, EEF-pose CSVs, and metadata.
Joint angles are recorded in radians in observation/action CSVs; metadata start positions are in degrees.
Observation gripper is measured width in… See the full description on the dataset page: https://huggingface.co/datasets/ShareLab-SII/pick_place_bread.Merged_PickPlace_PlasticBottle_CoffeeCan_KJM_WJW_lerobot
Merged PickPlace dataset
LeRobot v2.1, 15 FPS, ffw_sg2_rev1.
626 episodes, 123209 frames, 2504 videos.
Tasks:
Pick up the plastic bottle.
Pick up the coffee can.
Sources, in merge order:
Task_000613_PickPlace_PlasticBottle_KJM_WJW_lerobot
Task_000630_PickPlace_PlasticBottle_KJM_WJW_lerobot
Task_000632_PickPlace_CoffeeCan_KJM_WJW_lerobot
Task_000640_PickPlace_CoffeeCan_KJM_WJW_lerobot
Task_000644_PickPlace_PlasticBottle_KJM_WJW_lerobot… See the full description on the dataset page: https://huggingface.co/datasets/RobotisSW/Merged_PickPlace_PlasticBottle_CoffeeCan_KJM_WJW_lerobot.PickPlace_V0Task: PickPlace
Episode length: 45930
Average video length: 16.354255319148933
Collected date：2024.0625/2024.0705
G1_Dex1_PickPlaceCylinder_Dataset_SimThis dataset was collected using the unitree_sim_isaaclab
simulation environment, and the scene/task name used during collection is Isaac-PickPlace-Cylinder-G129-Dex1-Joint. For more details, please refer to the project's README.
pickplace_skills_v3_2
Two-disc pick and place demonstrations (SO-101, MuJoCo)
380 demonstration episodes of a simulated SO-101 arm picking up a cube and placing it on the
disc named in a natural-language instruction. Two coloured discs are visible in every frame, so
the instruction is the only signal identifying the correct target.
Generated by a scripted inverse-kinematics controller, not by teleoperation. Every episode
recorded here passed an automatic success check.
Contents… See the full description on the dataset page: https://huggingface.co/datasets/zwan1003/pickplace_skills_v3_2.single_pickplace
pick_and_place-300 — Unitree G1 + Dex3, "pick octopus and place inside brown basket"
LeRobot v2.1 dataset. Teleoperated bimanual G1 with Dex3 hands; lower body under a GR00T
whole-body-control policy, upper body teleoperated.
Episodes
349 (322 positive demos + 27 negative samples)
Frames
161,440 (2.24 h @ 20 fps)
FPS
20
Cameras
3 × h264 640×480 yuv420p
State / action
43-dim whole body (float64)
Task string
pick octopus and place inside brown basket
Size… See the full description on the dataset page: https://huggingface.co/datasets/simpk/single_pickplace.pick_place_block_potThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"trossen_subversion": "v1.0",
"robot_type": "trossen_ai_solo",
"total_episodes": 40,
"total_frames": 17794,
"total_tasks": 2,
"total_videos": 120,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:40"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/k1seul/pick_place_block_pot.pickplace_skills_v3_3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101",
"total_episodes": 380,
"total_frames": 228765,
"total_tasks": 5,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:380"
},
"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/zwan1003/pickplace_skills_v3_3.fr3_pickplace_extended_new_cmd_SYNC_part_correctedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "fr3",
"total_episodes": 301,
"total_frames": 276017,
"total_tasks": 2,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 60,
"splits": {
"train": "0:301"
},
"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/yio-ye2004/fr3_pickplace_extended_new_cmd_SYNC_part_corrected.pick_place_block_bowlThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"trossen_subversion": "v1.0",
"robot_type": "trossen_ai_solo",
"total_episodes": 62,
"total_frames": 27578,
"total_tasks": 2,
"total_videos": 186,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:62"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/k1seul/pick_place_block_bowl.pickplace_skills_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101",
"total_episodes": 180,
"total_frames": 105600,
"total_tasks": 5,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:180"
},
"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/zwan1003/pickplace_skills_v2.G1_Dex1_PickPlaceRedBlock_Dataset_SimThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Gripper",
"total_episodes": 216,
"total_frames": 163330,
"total_tasks": 2,
"total_videos": 648,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:216"
},
"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/unitreerobotics/G1_Dex1_PickPlaceRedBlock_Dataset_Sim.Task_80001_PickPlaceBall_MCAP
Task_80001_PickPlaceBall_MCAP
Created with Cyclo Intelligence by ROBOTIS.
fr3_pickplace_extended_abs_cmd_TEST2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "fr3",
"total_episodes": 31,
"total_frames": 28396,
"total_tasks": 2,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 60,
"splits": {
"train": "0:31"
},
"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/yio-ye2004/fr3_pickplace_extended_abs_cmd_TEST2.fr3_pickplace_extended_new_cmd_SYNC_part_corrected_with_prompt_testThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "fr3",
"total_episodes": 301,
"total_frames": 276017,
"total_tasks": 2,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 60,
"splits": {
"train": "0:301"
},
"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/yio-ye2004/fr3_pickplace_extended_new_cmd_SYNC_part_corrected_with_prompt_test.pick_place_fruit_bowlThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"trossen_subversion": "v1.0",
"robot_type": "trossen_ai_solo",
"total_episodes": 29,
"total_frames": 15482,
"total_tasks": 1,
"total_videos": 87,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:29"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/k1seul/pick_place_fruit_bowl.pickplace_skills_v3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101",
"total_episodes": 320,
"total_frames": 212621,
"total_tasks": 5,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:320"
},
"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/zwan1003/pickplace_skills_v3.svla_koch_pickplace_and_stacking
Dataset Overview
The dataset was created by the team Lebotica during LeRobot Worldwide Hackathon and used for training the SmolVLA model on structured robotic manipulation prompts
The dataset consists of 82 tasks and 2 instructions.
You can check the demo of the trained SmolVLA in the Hackathon Demo Page (Team number: 76).
Dataset Structure
├── data
│ └── chunk-000
│ ├── episode_000000.parquet
│ ├── ...
│ └── episode_000081.parquet
├── meta
│… See the full description on the dataset page: https://huggingface.co/datasets/ITHwangg/svla_koch_pickplace_and_stacking.so101_pangyo_pickplace_cube_260120isaaclab-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.pick_place_0This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100_follower",
"total_episodes": 10,
"total_frames": 3191,
"total_tasks": 1,
"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/yinxinyuchen/pick_place_0.fr3_pickplace_more_fruit_30CONTROLThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "fr3",
"total_episodes": 299,
"total_frames": 274183,
"total_tasks": 299,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:299"
},
"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/yio-ye2004/fr3_pickplace_more_fruit_30CONTROL.so100_banana_pickplace_1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 31,
"total_frames": 13792,
"total_tasks": 1,
"total_videos": 31,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:31"
},
"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/imsyed00/so100_banana_pickplace_1.pick_place_fruit_franka_allegroThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 50,
"total_frames": 8123,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 20,
"splits": {
"train": "0:50"
},
"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/dexsuite/pick_place_fruit_franka_allegro.svla_koch_pickplace_v3
Dataset Overview
NOTE:
The episode_106 and episode_122 ~ 125 were made incorrectly. They should be ignored when training the SmolVLA model.
The dataset was created by the team Lebotica during LeRobot Worldwide Hackathon and used for training the SmolVLA model on structured robotic manipulation prompts
The dataset consists of 122 tasks and 1 instruction, and there are the two types of episodes:
episode_0 ~ episode_53: Pick a color ball among the balls scattered on the white plate… See the full description on the dataset page: https://huggingface.co/datasets/ITHwangg/svla_koch_pickplace_v3.pick_place_avoid_and_not_avoid_calculator_overlay_molmobot
pick_place_avoid_and_not_avoid_calculator_overlay_molmobot
MolmoBot-format dataset for Synthmanip/MolmoBot training.
Layout
dataset_manifest.json
train/valid_trajectory_index.json and val/valid_trajectory_index.json
train/house_*/*.h5 and val/house_*/*.h5
HDF5 video sidecars under the same split/house directories
normalization stats: pick_place_avoid_and_not_avoid_calculator_overlay_molmobot_norm_stats.yaml
Split Summary
split
houses
h5… See the full description on the dataset page: https://huggingface.co/datasets/ccwatson/pick_place_avoid_and_not_avoid_calculator_overlay_molmobot.