datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
reachy-mini-emotions-library
Reachy Mini Emotions Library
Curated emotion recordings for the Reachy Mini robot, maintained by
Pollen Robotics. Each move is a JSON trajectory (head pose, antennas,
body yaw, sampled over time) paired with an Opus audio track.
Motion is sampled at 50 Hz; audio is mono Ogg/Opus (decoded natively by
the robot). Requires reachy_mini ≥ v1.8.4 (its move loader resolves
non-.wav audio sidecars).
File layout
Files live at the root of the dataset, named <emotion>.json +… See the full description on the dataset page: https://huggingface.co/datasets/pollen-robotics/reachy-mini-emotions-library.reachy-mini-wall-data
Reachy Mini — wall data (public)
posts.json for the Reachy Mini community wall: the AI-filtered posts shown publicly,
aggregated from Bluesky, YouTube, LinkedIn, TikTok, X and Reddit by the social-wall pipeline.
Fetch it directly (CORS-enabled) from any static site:
const url = "https://huggingface.co/datasets/pollen-robotics/reachy-mini-wall-data/resolve/main/posts.json";
const posts = await (await fetch(url)).json();
Each item: id, platform, author, handle, avatar, text… See the full description on the dataset page: https://huggingface.co/datasets/pollen-robotics/reachy-mini-wall-data.reachy-mini-dances-library
Reachy Mini Dances Library
Curated dance moves for the Reachy Mini robot, maintained by Pollen
Robotics. Each move is a JSON trajectory (head pose, antennas, body
yaw, sampled over time). Motion-only — no audio tracks in this set.
File layout
Files live at the root of the dataset, named <dance>.json.
How to use
Python — via the reachy_mini package:
from reachy_mini import ReachyMini
from reachy_mini.motion.recorded_move import RecordedMoves
library… See the full description on the dataset page: https://huggingface.co/datasets/pollen-robotics/reachy-mini-dances-library.reachy-sticker-gallerymini-reachy-animation
Reachy Mini Animation Dataset
Multi-view renders of 85 emotional animations performed by the Reachy Mini
robot, paired with the full robot joint state for every single frame.
Source of the animations. The emotional animations rendered here come from the
official pollen-robotics/reachy-mini-emotions-library
dataset by Pollen Robotics. This dataset re-renders those emotions from 12 camera
angles (with 3 background variants) and pairs every frame with the robot's joint state.… See the full description on the dataset page: https://huggingface.co/datasets/BastienATOS/mini-reachy-animation.reachy_mini_store_data
Reachy Mini app store - control-plane dataset
Single source of truth for the Reachy Mini app store, consumed by the
API Space (pollen-robotics/reachy-mini-api).
Layout
config/ hand-edited, source of truth (edit via the Hub / a PR)
official-app-list.json official app IDs (JSON string array)
blocked-app-list.json blocked app IDs, killswitch (JSON string array, optional)
taxonomy.json category list { version, categories: [{slug,label… See the full description on the dataset page: https://huggingface.co/datasets/pollen-robotics/reachy_mini_store_data.reachy-mini-generated-moves
Reachy Mini - Generated Moves
Moves generated by the reachy-mini-text-to-motion
Space (natural language -> motion clip -> 50 Hz recorded-move JSON).
Each generation produces three files under moves/:
File
Content
<stamp>_<slug>.json
Standard Reachy Mini recorded-move JSON (50 Hz), playable by the SDK/daemon
<stamp>_<slug>.clip.json
The LLM-authored source: per-channel curves with easing + oscillators
<stamp>_<slug>.meta.json
Prompt, model, timestamp, generated… See the full description on the dataset page: https://huggingface.co/datasets/tfrere/reachy-mini-generated-moves.reachy-mini-official-app-storereachy-mini-move-previewsreachy-mini-app-categoriesreachy-cleaning-10HzThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "reachy2",
"total_episodes": 14,
"total_frames": 8133,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:14"
},
"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/erl-hub/reachy-cleaning-10Hz.reachy-mini-detection-dataset-v2tavis-head-reachy2-800epThis dataset was made available by FiftyOne.
Installation
If you haven't already, install FiftyOne:
pip install -U fiftyone
Usage
import fiftyone as fo
from fiftyone.utils.huggingface import load_from_hub
# Load the dataset
# Note: other available arguments include 'max_samples', etc
dataset = load_from_hub("Voxel51/tavis-head-reachy2-800ep")
# Launch the App
session = fo.launch_app(dataset)
Dataset Card for TAVIS-HEAD Reachy2 (800-episode FiftyOne… See the full description on the dataset page: https://huggingface.co/datasets/Voxel51/tavis-head-reachy2-800ep.reachy_wave_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "reachy2",
"total_episodes": 50,
"total_frames": 15688,
"total_tasks": 1,
"total_videos": 50,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"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/aliberts/reachy_wave_2.reachy2_mobile_household_appleanimacy-reachy-mini-lerobot
squaredcuber/animacy-reachy-mini-lerobot
Human conversational motion retargeted to animacy/reachy_mini as a LeRobot v3.0 dataset, produced by
animacy (scripts/export_lerobot.py). The robot joint
vector is observation.state, the next frame is action, and every frame carries the
speech features, the speaking flag and the canonical human channels it was computed from,
so the same dataset trains robot-space and human-space policies.
53 episodes, 26812 frames at 30 fps (14.9 min), 5… See the full description on the dataset page: https://huggingface.co/datasets/squaredcuber/animacy-reachy-mini-lerobot.reachy-doing-things
Reachy Doing Things Dataset
Overview
The Reachy Doing Things Images Dataset consists of images captured from the perspective of the Reachy humanoid robot. These images were taken during teleoperation sessions, providing a unique view of the environment as perceived by the robot during manipulation tasks. The images were captured with a RGBD camera mounted on the shoulder of the robot.
Purpose
This dataset is primarily aimed at testing and validating the… See the full description on the dataset page: https://huggingface.co/datasets/pollen-robotics/reachy-doing-things.reachy_wave
reachy_wave
This repository contains a TsFile conversion of the original Hugging Face
dataset aliberts/reachy_wave.
Source Dataset
The source repository is a LeRobot v2.0 dataset for a Reachy2 robot. The task is:
When you see someone, look at them and wave
Source structure:
data/chunk-000/episode_000000.parquet
data/chunk-000/episode_000001.parquet
data/chunk-000/episode_000002.parquet
data/chunk-000/episode_000003.parquet… See the full description on the dataset page: https://huggingface.co/datasets/THULab/reachy_wave.reachy-pick-and-place-imagesThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "reachy2",
"total_episodes": 25,
"total_frames": 6652,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:25"
},
"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/erl-hub/reachy-pick-and-place-images.reachy-mini-detection-datasetreachy-cleaningThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "reachy2",
"total_episodes": 1,
"total_frames": 103,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:1"
},
"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/erl-hub/reachy-cleaning.reachy-arcade-scores
Reachy Mini Arcade — Global Scores
Global high-score table for the Reachy Mini Arcade Space.
scores.json holds one entry per game (best score globally):
{
"spaceship": { "score": 12345, "name": "AAAA", "owner": "username", "updated": "2026-05-21T12:00:00Z" },
...
}
Writes are gated by the reachy-arcade-api backend Space, which verifies the caller's HF OAuth token before merging.
reachy-alive
reachy_alive • Reachy Mini Moves
Community-contributed Marionette recordings captured on Reachy Mini.
Moves uploaded: 1
Total motion time: 5.2 seconds
Audio tracks: 1
Last updated: 2026-09-23T17:22:38Z
Files live under data/ — each move ships as a JSON trajectory (Reachy Mini emotions schema) plus an optional WAV recorded directly from the robot.
How this dataset was produced
These takes were recorded with the Marionette Reachy Mini app. Pick the moves to share… See the full description on the dataset page: https://huggingface.co/datasets/HTurlet15/reachy-alive.reachy2_emotions_libraryReachy_RENS
Reachy RENS - Motor Noise Dataset
Crowdsourced recordings of Reachy Mini robot motor noise for training ego-noise suppression models.
Purpose
This dataset enables training of real-time motor noise cancellation models (DTLN) that can:
Remove motor whine from live audio streams
Improve audio analysis (beat detection, speech recognition)
Create cleaner livestream audio for robotics applications
Structure
data/
├── {user_hash_1}/
│ ├── background.wav # 15s… See the full description on the dataset page: https://huggingface.co/datasets/TwinPeaksTownie/Reachy_RENS.reachy-mini-moves
Reachy Mini moves
Motion clips for Reachy Mini, baked from
Blender timelines with the
reachy_mini_link
add-on. Marionette-compatible layout:
data/<move>.json - the motion (RecordedMove: description, time,
set_target_data), canonicalized to <=50 Hz / 6 decimals.
data/<move>.ogg - optional audio sidecar, played by the daemon in
lockstep with the motion.
reachy_waveThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "reachy2",
"total_episodes": 5,
"total_frames": 1380,
"total_tasks": 1,
"total_videos": 5,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:5"
},
"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/aliberts/reachy_wave.reachy2_teleop_remi_eval_2_rawreachy2_pick_place_largerThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "reachy2",
"total_episodes": 170,
"total_frames": 14347,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 10,
"splits": {
"train": "0:170"
},
"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/simheo/reachy2_pick_place_larger.reachy-pick-and-place-right-arm
Reachy 2 Right-Arm Pick-and-Place
A real-robot demonstration dataset for fine-tuning vision-language-action
policies on the Pollen Robotics Reachy 2 robot.
This dataset was derived from
erl-hub/reachy-pick-and-place-images.
Task
Pick up the tomato soup can and place it into the metal bowl.
Dataset summary
Format: LeRobot v3.0
Robot: Reachy 2
Episodes: 23
Frames: 6,344
Control and video rate: 15 FPS
Camera: observation.images.torso_rgb
Resolution:… See the full description on the dataset page: https://huggingface.co/datasets/erl-hub/reachy-pick-and-place-right-arm.