datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
realsense-calvin
realsense-calvin
Raw per-timestep CALVIN-format conversion of realsense-converted, generated by
dawn/data/realsense/convert_to_raw_calvin.py in the DAWN repo
(/home/colligo/Codes/HiVA/DAWN).
Layout
training/episode_0000000.npz ... + training/lang_annotations/auto_lang_ann.npy
validation/episode_0000000.npz ... + validation/lang_annotations/{auto_lang_ann.npy, embeddings.npy}
Per-frame npz keys
rgb_static (256, 256, 3) uint8 — official CALVIN uses… See the full description on the dataset page: https://huggingface.co/datasets/nero1342/realsense-calvin.realsense-multicam-tabletop
RealSense Multi-Camera Tabletop
Synchronized multi-view RGB + stereo IR captures of a tabletop scene from 4 Intel RealSense
cameras, recorded with fixed camera positions. Includes FoundationStereo depth for two scenes
and chessboard-derived extrinsics for merging the views into a single point cloud.
Layout
scene_000NN/
├── camera_poses.json # extrinsics, only in calibration scenes (see table)
└── <camera_serial>/
├── rgb/00000.jpg ... 00119.jpg #… See the full description on the dataset page: https://huggingface.co/datasets/Flashkernel/realsense-multicam-tabletop.office_vortex_realsenserealsense-black-green-background-lerobot
record-immitation-blue-arm-realsense-black-green-backgroundMerged
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.
gc6d_lerobot_realsense_d415vortex_realsensetest_realsense_stackThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 50,
"total_frames": 13675,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"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/msmandelbrot/test_realsense_stack.09182025_realsense_redlinentable_hurricanemugThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 50,
"total_frames": 34284,
"total_tasks": 1,
"total_videos": 0,
"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": null,
"features": {… See the full description on the dataset page: https://huggingface.co/datasets/rli14/09182025_realsense_redlinentable_hurricanemug.eval_so101_main_bin_realsenseThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 10,
"total_frames": 5303,
"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/guanfengliu/eval_so101_main_bin_realsense.so101_main_bin_realsense2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 61,
"total_frames": 16866,
"total_tasks": 1,
"total_videos": 61,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:61"
},
"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/guanfengliu/so101_main_bin_realsense2.09182025_realsense_chocotable_bluehydroflaskmuigThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 50,
"total_frames": 32253,
"total_tasks": 1,
"total_videos": 0,
"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": null,
"features": {… See the full description on the dataset page: https://huggingface.co/datasets/rli14/09182025_realsense_chocotable_bluehydroflaskmuig.09182025_realsense_peachflowertable_bluedinosaurmugThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 50,
"total_frames": 36167,
"total_tasks": 1,
"total_videos": 0,
"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": null,
"features": {… See the full description on the dataset page: https://huggingface.co/datasets/rli14/09182025_realsense_peachflowertable_bluedinosaurmug.record2-immitation-blue-arm-realsenseThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 10,
"total_frames": 3819,
"total_tasks": 1,
"total_videos": 50,
"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/tshiamor/record2-immitation-blue-arm-realsense.record-test-realsense-depth-4This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 1,
"total_frames": 637,
"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/av120/record-test-realsense-depth-4.block-clean-realsenseThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 5,
"total_frames": 1588,
"total_tasks": 1,
"total_videos": 5,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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/rhecker/block-clean-realsense.realsense_load_datasetpick_place_extra_objects_realsenseThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 50,
"total_frames": 16598,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"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/fabiangrob/pick_place_extra_objects_realsense.realsense-l515-rgbd-raw
RealSense L515 RGB-D Raw
Single-frame raw RGB-D captures from an Intel RealSense L515. The directory layout and field contract align with the Isaac Sim raw-frame output of isaac_sim_data_collector, so frames can be back-projected and converted to PTv3 / Pointcept datasets with existing tooling.
This repository contains raw data only (no converted point clouds / PTv3 splits).
Download
pip install huggingface_hub
hf download min99ian/realsense-l515-rgbd-raw… See the full description on the dataset page: https://huggingface.co/datasets/min99ian/realsense-l515-rgbd-raw.record-immitation-blue-arm-realsenseThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 15,
"total_frames": 10325,
"total_tasks": 1,
"total_videos": 75,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:15"
},
"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/tshiamor/record-immitation-blue-arm-realsense.pick_place_wrong_cube_realsenseThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 50,
"total_frames": 15779,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"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/fabiangrob/pick_place_wrong_cube_realsense.realsense_cube_moving_1_20260727_152343This 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/JulianRHuggingFace/realsense_cube_moving_1_20260727_152343.so101_realsense_depth_task_20260813_193546This 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/SANGHO1234/so101_realsense_depth_task_20260813_193546.piper_joint_ep_20250422_realsenseThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "piper",
"total_episodes": 160,
"total_frames": 56531,
"total_tasks": 1,
"total_videos": 480,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:160"
},
"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/hangwu/piper_joint_ep_20250422_realsense.Intel_realsense_20260723_171707This 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/Har9/Intel_realsense_20260723_171707.so101_blue_cube_to_black_box_wth_realsenseThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 50,
"total_frames": 13955,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"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/DmitryStrog/so101_blue_cube_to_black_box_wth_realsense.pick_place_task_fail_realsense_downscaledThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 50,
"total_frames": 15255,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"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/fabiangrob/pick_place_task_fail_realsense_downscaled.openarm_dual_realsense_pick_place_random_cube_tilt_30_box_blueThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "openarm_isaaclab",
"total_episodes": 50,
"total_frames": 25382,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"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/a126-kitech/openarm_dual_realsense_pick_place_random_cube_tilt_30_box_blue.openarm_dual_realsense_pick_place_random_cube_tilt_30_box_blue_radianThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "openarm_isaaclab",
"total_episodes": 50,
"total_frames": 25375,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"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/a126-kitech/openarm_dual_realsense_pick_place_random_cube_tilt_30_box_blue_radian.towelspring26_realsenseThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_yams_follower",
"total_episodes": 91,
"total_frames": 51677,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:91"
},
"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/ETHRC/towelspring26_realsense.09182025_realsense_peachflowertable_bluedinosaurmug_bak2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 51,
"total_frames": 36348,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:51"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {… See the full description on the dataset page: https://huggingface.co/datasets/rli14/09182025_realsense_peachflowertable_bluedinosaurmug_bak2.