datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
so100_pull_cube_by_tool_errorThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 20,
"total_frames": 4381,
"total_tasks": 1,
"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/sixpigs1/so100_pull_cube_by_tool_error.so100_pull_cube_errorThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 20,
"total_frames": 3890,
"total_tasks": 1,
"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/sixpigs1/so100_pull_cube_error.pull_cube_cap_10fpsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 100,
"total_frames": 31714,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:100"
},
"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/HyeonseokE/pull_cube_cap_10fps.PullCubeMani_filteredThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
4
],
"names": [
"action_0",
"action_1",
"action_2",
"action_3"
],
"fps": 30.0
},
"observation.state": {… See the full description on the dataset page: https://huggingface.co/datasets/lambdavi/PullCubeMani_filtered.PullCubeManiThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
4
],
"names": [
"action_0",
"action_1",
"action_2",
"action_3"
],
"fps": 30.0
},
"observation.state": {… See the full description on the dataset page: https://huggingface.co/datasets/lambdavi/PullCubeMani.pull_cube_ours_phase1_80_10fps
Pull Cube Ours Phase1 80 10Fps
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: "Pull the cube to the target marker."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 80 (25,568 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on Isaac Sim 5.1 / IsaacLab 2.3.2… See the full description on the dataset page: https://huggingface.co/datasets/HyeonseokE/pull_cube_ours_phase1_80_10fps.PullCubeTool-MW-6DThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
10
],
"names": [
"delta_pos_x",
"delta_pos_y",
"delta_pos_z",
"rot6d_0",
"rot6d_1",
"rot6d_2",
"rot6d_3"… See the full description on the dataset page: https://huggingface.co/datasets/lambdavi/PullCubeTool-MW-6D.pick-place-round-cube-pull-box-1-camThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 56,
"total_frames": 61762,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:56"
},
"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/ryanhoangt/pick-place-round-cube-pull-box-1-cam.PullCubeTool-MW-6D-v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
10
],
"names": [
"delta_pos_x",
"delta_pos_y",
"delta_pos_z",
"rot6d_0",
"rot6d_1",
"rot6d_2",
"rot6d_3"… See the full description on the dataset page: https://huggingface.co/datasets/lambdavi/PullCubeTool-MW-6D-v2.PullCubeMani128This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
4
],
"names": [
"action_0",
"action_1",
"action_2",
"action_3"
],
"fps": 30.0
},
"observation.state": {… See the full description on the dataset page: https://huggingface.co/datasets/lambdavi/PullCubeMani128.pull_cube_ours_10fps
Pull Cube Ours 10Fps
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: "Pull the cube to the target marker."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 100 (32,039 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on Isaac Sim 5.1 / IsaacLab 2.3.2 under Python… See the full description on the dataset page: https://huggingface.co/datasets/HyeonseokE/pull_cube_ours_10fps.IsaacLab-SO101-PullCube-100epi-10fps-appendix
Isaaclab So101 Pullcube 100Epi 10Fps Appendix
LeRobot v3.0 dataset collected via — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Task instruction: "Pull the cube to the target marker."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 100 (32,208 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on Isaac Sim 5.1 / IsaacLab 2.3.2… See the full description on the dataset page: https://huggingface.co/datasets/CoRL2026-CSI/IsaacLab-SO101-PullCube-100epi-10fps-appendix.PullCubeTool-6DThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
10
],
"names": [
"delta_pos_x",
"delta_pos_y",
"delta_pos_z",
"rot6d_0",
"rot6d_1",
"rot6d_2",
"rot6d_3"… See the full description on the dataset page: https://huggingface.co/datasets/lambdavi/PullCubeTool-6D.IsaacLab-SO101_pull_cube_baseCaP_300epi
Isaaclab So101 Pull Cube Basecap 300Epi
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Tasks: 106
Tasks
Pull the cyan cube to the red target marker without pick-and-place.
Pull the blue cube to the gray target marker without pick-and-place.
Pull the orange cube to the cyan target marker without pick-and-place.
Pull the pink cube to the blue target marker without… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/IsaacLab-SO101_pull_cube_baseCaP_300epi.IsaacLab-SO101-Phase1-pull_cube-80episode
Isaaclab So101 Phase1 Pull Cube 80Episode
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: "Pull the cube to the target marker."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 80 (25,530 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on Isaac Sim 5.1 /… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/IsaacLab-SO101-Phase1-pull_cube-80episode.IsaacLab-SO101-Phase1PlusPhase2-pull_cube-100episode-10fps
Isaaclab So101 Phase1Plusphase2 Pull Cube 100Episode 10Fps
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: "Pull the cube to the target marker."
Robot: so101_follower
Cameras: top + left-wrist RGB @ 10 fps
Episodes: 100 (31,922 frames total)
Labels: per-frame natural-language skill labels in skill.natural_language
and subtask.* columns (labeled by Gemini)
Generated on Isaac… See the full description on the dataset page: https://huggingface.co/datasets/CoRL2026-CSI/IsaacLab-SO101-Phase1PlusPhase2-pull_cube-100episode-10fps.IsaacLab-SO101_pull_cube_baseCaP_100epi_10fps
Isaaclab So101 Pull Cube Basecap 100Epi 10Fps
LeRobot v3.0 dataset collected via
SCRAPE-IsaacLab — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
Tasks: 71
Tasks
Pull the green cube to the pink target marker without pick-and-place.
Pull the blue cube to the purple target marker without pick-and-place.
Pull the pink cube to the blue target marker without pick-and-place.
Pull the gray cube to the pink target marker without… See the full description on the dataset page: https://huggingface.co/datasets/Cache-SCA/IsaacLab-SO101_pull_cube_baseCaP_100epi_10fps.ManiSkill_PullCubeTool-v1