datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
PhysicalAI-Robotics-GR00T-X-Embodiment-Sim
PhysicalAI-Robotics-GR00T-X-Embodiment-Sim
Github Repo: Isaac GR00T N1
We provide a set of datasets used for post-training of GR00T N1. Each dataset is a collection of trajectories from different robot embodiments and tasks.
Cross-embodied bimanual manipulation: 9k trajectories
Dataset Name
#trajectories
bimanual_panda_gripper.Threading
1000
bimanual_panda_hand.LiftTray
1000
bimanual_panda_gripper.ThreePieceAssembly
1000… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim.HiFi-UMI-2K
HiFi-UMI-2K: High-Fidelity Robot-Free Manipulation Data
2,000 hours released · 6 synchronized camera views · 480+ scenes · 3 mm pose accuracy · <40 µs synchronization
🌐 Project Website |
📦 Dataset |
📄 Paper: arXiv:2607.25895
Examples from the HiFi-UMI corpus. Click the image to play the video.
📚 Introduction
HiFi-UMI is a portable, high-fidelity bimanual capture system for collecting robot-free manipulation demonstrations.… See the full description on the dataset page: https://huggingface.co/datasets/simple-world-lab/HiFi-UMI-2K.PhysicalAI-SimReady-Warehouse-01
NVIDIA Physical AI SimReady Warehouse OpenUSD Dataset
Dataset Version: 1.1.0
Date: May 18, 2025
Author: NVIDIA, Corporation
License: CC-BY-4.0 (Creative Commons Attribution 4.0 International)
Contents
This dataset includes the following:
This README file
A CSV catalog that enumerates all of the OpenUSD assets that are part of this dataset including a sub-folder of images that showcase each 3D asset (physical_ai_simready_warehouse_01.csv). The CSV file is organized in… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-SimReady-Warehouse-01.simplipy-assets
simplipy assets
Rule sets and engine configurations for simplipy,
a fast, contract-sound simplification engine for symbolic mathematical expressions.
The engine and these rule sets are described in: Saegert & Köthe 2026, Breaking the
Simplification Bottleneck in Amortized Neural Symbolic Regression (ICML 2026),
arXiv:2602.08885.
Install an engine by name (downloads this repository's files on first use):
pip install simplipy
import simplipy as sp
engine =… See the full description on the dataset page: https://huggingface.co/datasets/psaegert/simplipy-assets.PhysicalAI-Robotics-GR00T-Teleop-Sim
Simulation GR1 Tabletop Task 1K Dataset
Dataset Description:
The PhysicalAI-Robotics-GR00T-Teleop-GR1 dataset consists of 1000 teleoperation trajectories in simulation using the GR1 robot with upper body control. The simulation setup mimics tabletop manipulation tasks and uses RGB observations with a virtual camera. The robot is equipped with simulated Fourier hands.
This dataset is ready for non-commercial use.
Dataset Owner(s):
NVIDIA GEAR… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-Teleop-Sim.CLEVER_Job_Simulator
The Capturing and Logging Ecological Virtual Experiences and Reality (CLEVER) — Job Simulator Dataset
This repository consists of data from 95 participants playing the SteamVR game "Job Simulator". We collected data using two VR systems: a Meta Quest 3S and a VIVE XR Elite. Each participant experienced 5 sessions in which they played through the first three tasks in Office Worker, responded to the Fidelity-based Presence Scale and Simulator Sickness Questionnaire, played through… See the full description on the dataset page: https://huggingface.co/datasets/xraijobsimulator/CLEVER_Job_Simulator.aloha_sim_transfer_cube_humanThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 20000,
"total_tasks": 1,
"total_videos": 50,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/aloha_sim_transfer_cube_human.World-SimReady-Home
WorldSimReady-Home
Dataset description
CAD-based SimReady assets
Optimized CAD assets with configured collision and physical properties.
Manually reviewed scenes
Physics configuration reviewed for every household scene.
Scalable task generation
Batch simulation data across robot embodiments and tasks.
WorldSimReady-Home is built from CAD-based object assets, optimized and enriched with physical properties to create simulation-ready assets. The… See the full description on the dataset page: https://huggingface.co/datasets/Yootta/World-SimReady-Home.ModelNet-simscanload the simulated scan with code
df_scan = pd.read_hdf(filename, key=scan_pattern)
where filename is the .h5 file name (e.g., SimulatedScans/cy0-cz0-s1.0-d1.5/airplane/train/airplane_0001/airplane_0001-rotation22.5-directx.h5); scan_pattern is set with scan_pattern = 'lissajous', scan_pattern = 'raster', or scan_pattern = 'raster_r'.
'lissajous' indicates Lissajous scan mode describe in the paper, and 'raster' for Raster scan mode. ('raster_r' is another Raster scan mode that the frame ends… See the full description on the dataset page: https://huggingface.co/datasets/drssth/ModelNet-simscan.s1K-1.1
Dataset Card for s1K
Dataset Summary
s1K-1.1 consists of the same 1,000 questions as in s1K but with traces instead generated by DeepSeek r1. We find that these traces lead to much better performance.
Usage
# pip install -q datasets
from datasets import load_dataset
ds = load_dataset("simplescaling/s1K-1.1")["train"]
ds[0]
Dataset Structure
Data Instances
An example looks as follows:
{
'solution': '1. **Rewrite the function using… See the full description on the dataset page: https://huggingface.co/datasets/simplescaling/s1K-1.1.genshin-voice
Genshin Voice
Genshin Voice is a dataset of voice lines from the popular game Genshin Impact.
Hugging Face 🤗 Genshin-Voice
ModelScope Genshin-Voice
Per-speaker downloads are grouped by language and ZIP size. Browse every archive in the ZIP index.
Last update at 2026-08-13
654252 wavs
7291 without speaker (1%)
52693 without transcription (8%)
1088 without inGameFilename (0%)
Dataset Details
Dataset Description
The dataset contains voice lines… See the full description on the dataset page: https://huggingface.co/datasets/simon3000/genshin-voice.gpt-edit-simpleraime24_nofiguresThe 30 problems from AIME 2024 only with the ASY code for figures when it is necessary to solve the problem. Figure code that is not core to the problem was excluded.
Citation Information
@misc{muennighoff2025s1simpletesttimescaling,
title={s1: Simple test-time scaling},
author={Niklas Muennighoff and Zitong Yang and Weijia Shi and Xiang Lisa Li and Li Fei-Fei and Hannaneh Hajishirzi and Luke Zettlemoyer and Percy Liang and Emmanuel Candès and Tatsunori Hashimoto}… See the full description on the dataset page: https://huggingface.co/datasets/simplescaling/aime24_nofigures.s1K
Dataset Card for s1K
Dataset Summary
s1K is a dataset of 1,000 examples of diverse, high-quality & difficult questions with distilled reasoning traces & solutions from Gemini Thining. Refer to the s1 paper for more details.
Usage
# pip install -q datasets
from datasets import load_dataset
ds = load_dataset("simplescaling/s1K")["train"]
ds[0]
Dataset Structure
Data Instances
An example looks as follows:
{
'solution': '1. **Rewrite… See the full description on the dataset page: https://huggingface.co/datasets/simplescaling/s1K.UrbanVerse-Assets-Sim-ready
UrbanVerse-Assets-Sim-ready
Simulation-ready USD conversions of the UrbanVerse-100K
3D asset database, for NVIDIA Isaac Sim ≥ 5 / Isaac Lab.
Project: UrbanVerse: Scaling Urban Simulation by Watching City-Tour Videos (ICLR 2026) ·
Code: VAIL-UCLA/UrbanVerse
What "sim-ready" means here
Each asset was converted from its metric, ground-aligned GLB
(adjusted_asset_scaled_bottomed.glb) with Isaac Lab's MeshConverter and validated
against the source mesh:
property… See the full description on the dataset page: https://huggingface.co/datasets/UCLA-VAIL/UrbanVerse-Assets-Sim-ready.SimpleRL-Zoo-DataSimWorld
SimWorld: An Open-ended Realistic Simulator for Autonomous Agents in Physical and Social Worlds
SimWorld is a simulation platform for developing and evaluating LLM/VLM AI agents in complex physical and social environments.
🎬 Demonstration
▶ See all our demo videos on YouTube
🔥 News
2026.1 SimWorld now supports importing customized environments and agents!
2025.11 The white paper of SimWorld is… See the full description on the dataset page: https://huggingface.co/datasets/SimWorld-AI/SimWorld.Kvasir-VQA-x1
Kvasir-VQA-x1
A Multimodal Dataset for Medical Reasoning and Robust MedVQA in Gastrointestinal Endoscopy
Kvasir-VQA-x1 on GitHub |
Original Image from Kvasir-VQA(Simula Datasets) |
Paper
🔗 MediaEval Medico 2025 Challenge uses this dataset. We encourage you to check out and participate!
Overview
Kvasir-VQA-x1 is a large-scale dataset designed to benchmark medical visual question answering (MedVQA) in gastrointestinal (GI) endoscopy. It introduces 159,549 new QA… See the full description on the dataset page: https://huggingface.co/datasets/SimulaMet/Kvasir-VQA-x1.GMFlow_raw_simulation
GMFlow Raw Simulation
Overview
GMFlow Raw Simulation is a large-scale open dataset of high-fidelity three-dimensional earthquake ground-motion simulations generated for the GMFlow project. It contains both point-source and finite-rupture earthquake scenarios for San Francisco Bay Area, covering magnitudes Mw 4.4, Mw 6, and Mw 7.
The simulations are performed on the supercomputer Perlmutter at the National Energy Research Scientific Computing Center (NERSC), with a total… See the full description on the dataset page: https://huggingface.co/datasets/Yaozhong/GMFlow_raw_simulation.SIMPLEyou data output is here
cfb-sims-2026aloha_sim_insertion_humanThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 25000,
"total_tasks": 1,
"total_videos": 50,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/aloha_sim_insertion_human.rulersocial-sim-bench-gensaloha_sim_insertion_scriptedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 20000,
"total_tasks": 1,
"total_videos": 50,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/aloha_sim_insertion_scripted.sim_double_insert_hdf5RGBench-Cloth-Sim2Real-v1
RGBench Cloth Sim-to-Real (v1)
🌐 Project page: https://rgbench.github.io/ · 📦 Code: https://github.com/hwk0809/RGBench
Nine carefully captured garments — three bimanual manipulation actions
each (fling / fold / grasp) — with real-world ground truth point
clouds for evaluating any cloth simulator's sim-to-real gap. Released
as the evaluation half of the AAAI 2026 paper Real Garment Benchmark
(RGBench).
The larger 6 000+ garment-mesh asset library and the GarmentDynamics… See the full description on the dataset page: https://huggingface.co/datasets/RGBench/RGBench-Cloth-Sim2Real-v1.quantum-representations
Epsilon-Transformers Belief Analysis Dataset
This dataset contains trained neural network models and their corresponding belief state regression analysis from the Epsilon-Transformers project. The models were trained on four different stochastic processes and analyzed for their ability to learn and represent belief states.
See https://github.com/adamimos/epsilon-transformers/tree/quantum-public for codebase which generated this data.
Dataset Structure… See the full description on the dataset page: https://huggingface.co/datasets/SimplexAI/quantum-representations.HC3Human ChatGPT Comparison Corpus (HC3)Paired_Compressible_Boussinesq_Flow_Simulation_with_Random_Temperature_BCs
Paired Compressible / Boussinesq Flow with Random Temperature BCs
📄 Paper: A Neural Surrogate Approach for Simulating Natural Convection
Problems (arXiv:2606.25259) — Nurshat Menglik,
Alex Shao, David Hyde.
10,000 matched pairs of 2D natural-convection simulations of the differentially
heated square cavity under randomized wall-temperature boundary conditions. Each
sample solves the same problem twice — once with the Boussinesq model and once
with the fully compressible model —… See the full description on the dataset page: https://huggingface.co/datasets/NurshatMenglik/Paired_Compressible_Boussinesq_Flow_Simulation_with_Random_Temperature_BCs.