datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
RGBench-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.ising-sim2real-results
Ising sim2real — Decoder Benchmark Results
Evaluation results for a panel of open surface-code decoders run on real Google
Willow hardware data and on synthetic circuit-level noise of rising fidelity.
The question these results answer: does the cheap synthetic benchmark predict the
real-hardware result?
This repo holds the outputs (LERs, per-shot outcomes, fitted noise models,
figures). The inputs — ingested Willow detection events, circuits, and shipped
DEMs — live in… See the full description on the dataset page: https://huggingface.co/datasets/ShayManor/ising-sim2real-results.sim2real_1224_brush_pickso101_sim2real_delay_shift_v2_spaced_200This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [… See the full description on the dataset page: https://huggingface.co/datasets/vasco281204/so101_sim2real_delay_shift_v2_spaced_200.sim2real_test04This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_mujoco",
"total_episodes": 100,
"total_frames": 65234,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"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/Minato-Shoji/sim2real_test04.so101_sim2real_baselineThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [… See the full description on the dataset page: https://huggingface.co/datasets/vasco281204/so101_sim2real_baseline.sim2real_test01This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_mujoco",
"total_episodes": 50,
"total_frames": 32617,
"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/Minato-Shoji/sim2real_test01.SoftManipulator_sim2real
SoftManipulator Sim2Real Dataset
This dataset accompanies the research paper "Bridging High-Fidelity Simulations and Physics-Based Learning Using A Surrogate Model for Soft Robot Control" published in Advanced Intelligent Systems, 2025.
📋 Dataset Overview
This dataset contains experimental and simulation data for a 3-actuator pneumatic soft manipulator, designed to enable sim-to-real transfer learning and surrogate model development. The data includes motion capture… See the full description on the dataset page: https://huggingface.co/datasets/Ndolphin/SoftManipulator_sim2real.so101_sim2real_baseline_green_block_mix_4_sourcesThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [… See the full description on the dataset page: https://huggingface.co/datasets/Long27/so101_sim2real_baseline_green_block_mix_4_sources.so101_sim2real_baseline_green_block_mix_36_64_200This 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/vasco281204/so101_sim2real_baseline_green_block_mix_36_64_200.rollout_so101_sim2real_baseline_green_block_mix_50_50_200_spaced_72_20260907_175251This 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/vasco281204/rollout_so101_sim2real_baseline_green_block_mix_50_50_200_spaced_72_20260907_175251.so101_sim2real_baseline_green_block_mix_65_35_200This 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/vasco281204/so101_sim2real_baseline_green_block_mix_65_35_200.so101_sim2real_baseline_green_block_mix_80_20_200This 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/vasco281204/so101_sim2real_baseline_green_block_mix_80_20_200.rollout_so101_sim2real_baseline_green_block_mix_65_35_200_spaced_72This 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/Long27/rollout_so101_sim2real_baseline_green_block_mix_65_35_200_spaced_72.rollout_so101_sim2real_baseline_green_block_mix_80_20_200_spaced_72_20260907_193818This 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/vasco281204/rollout_so101_sim2real_baseline_green_block_mix_80_20_200_spaced_72_20260907_193818.sim2real_test06This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_mujoco",
"total_episodes": 100,
"total_frames": 65870,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"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/Minato-Shoji/sim2real_test06.so101_sim2real_baseline_green_block_mix_50_50_200This 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/vasco281204/so101_sim2real_baseline_green_block_mix_50_50_200.rollout_so101_sim2real_baseline_green_block_mix_65_35_200_spaced_72_r2_20260907_145123This 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/vasco281204/rollout_so101_sim2real_baseline_green_block_mix_65_35_200_spaced_72_r2_20260907_145123.rollout_so101_sim2real_baseline_green_block_mix_65_35_200_spaced_72This 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/vasco281204/rollout_so101_sim2real_baseline_green_block_mix_65_35_200_spaced_72.sim2real_test02This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_mujoco",
"total_episodes": 100,
"total_frames": 65234,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"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/Minato-Shoji/sim2real_test02.sim2real_gta5_to_cityscapesso100_sim2real_blockThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100_follower",
"total_episodes": 2,
"total_frames": 1595,
"total_tasks": 1,
"total_videos": 4,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"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/pranavsaroha/so100_sim2real_block.SoftManipulator_sim2real
SoftManipulator Sim2Real Dataset
This dataset accompanies the research paper "Bridging High-Fidelity Simulations and Physics-Based Learning Using A Surrogate Model for Soft Robot Control" published in Advanced Intelligent Systems, 2025.
📋 Dataset Overview
This dataset contains experimental and simulation data for a 3-actuator pneumatic soft manipulator, designed to enable sim-to-real transfer learning and surrogate model development. The data includes motion… See the full description on the dataset page: https://huggingface.co/datasets/SELVA183/SoftManipulator_sim2real.rollout_act_sim2real_mujoco_36sim_v2_72rf-loc-sim2real
Associated Paper
This dataset release accompanies the paper Bridging the sim-to-real gap in RF localization with large-scale synthetic pretraining, published in Information Fusion. The Rome and Oslo real-world data, together with the synthetic RF localization datasets packaged here, are used in the study to train, pretrain, fine-tune, and evaluate models for sim-to-real RF fingerprinting localization.
RF-Loc-Sim2Real Dataset Export
This dataset contains… See the full description on the dataset page: https://huggingface.co/datasets/asaribekyan/rf-loc-sim2real.Sim2Real-Generalizationsim2real_test05This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_mujoco",
"total_episodes": 100,
"total_frames": 65234,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"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/Minato-Shoji/sim2real_test05.sim2real_test03This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_mujoco",
"total_episodes": 100,
"total_frames": 65234,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"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/Minato-Shoji/sim2real_test03.sim2real_brush_oder_pick_2This dataset was created using Physical AI Tools and LeRobot.
Dataset Structure
meta/info.json:
{
"total_episodes": 1000,
"total_frames": 140703,
"total_videos": 1000,
"codebase_version": "v2.1",
"robot_type": "FFW_SG2",
"total_tasks": 1,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1000"
},
"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/Dongkkka/sim2real_brush_oder_pick_2.Stable-Sim2Real