datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
so101-eval-galleryso101-pi05-base-dataset
SO-101 / SO-100 unified manipulation dataset
A single LeRobot dataset built from 150 public SO-101 / SO-100 teleoperation
datasets collected from the Hugging Face Hub, plus 6 recorded by the author.
The sources were screened for action-space conformity, deduplicated, and
rewritten into one schema with a fixed three-camera layout.
github.com/jinnymo/so101-pi05-base — the
scripts that built this, stage by stage: the Hub crawl, the screening criteria, the
action-convention check… See the full description on the dataset page: https://huggingface.co/datasets/dongyoonkim/so101-pi05-base-dataset.record-pick-and-place-pos5-so101This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 240,
"total_frames": 119443,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:240"
},
"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/hbseong/record-pick-and-place-pos5-so101.svla_so101_pickplaceThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100_follower",
"total_episodes": 50,
"total_frames": 11939,
"total_tasks": 1,
"total_videos": 100,
"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":… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/svla_so101_pickplace.record-pick-and-place-so101This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 188,
"total_frames": 88161,
"total_tasks": 3,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:188"},
"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/hbseong/record-pick-and-place-so101.record-pick-and-place-ez2-so101This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 171,
"total_frames": 108092,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:171"
},
"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/hbseong/record-pick-and-place-ez2-so101.record-pick-and-place-ez-so101This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 110,
"total_frames": 84580,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:110"},
"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/hbseong/record-pick-and-place-ez-so101.armnetbench_v01_lerobot_so101
ArmnetBench v0.1 — LeRobot (single-arm SO-101)
ArmnetBench v0.1 contains 50 human-teleoperated reference trajectories per task, plus
evaluation trajectories from 7 policies trained or fine-tuned on those reference datasets,
across 8 single-arm tasks on the low-cost SO-101 robot arm. Data was collected for the
ArmnetBench v0.1 benchmark using the Armnet arm farm.
This repository is the native LeRobot v3.0 release
(one multi-camera episode per row, state/action parquet +… See the full description on the dataset page: https://huggingface.co/datasets/armnet/armnetbench_v01_lerobot_so101.V1-LeRobot-SO101-Eval-Videos
SO-101 SmolVLA Evaluation Videos — V1
Full evaluation footage and per-trial logs for V1-LeRobot-SO101-Learning-by-Demonstration-SmolVLA — a screwdriver-to-bin pick-and-place task taught to a low-cost SO-101 robotic arm via imitation learning, using LeRobot and the SmolVLA policy.
This dataset contains all 150 evaluation trial videos (50 trials x 3 camera configurations) plus their trial-by-trial logs. It's the full record behind the results reported in the GitHub repo's README —… See the full description on the dataset page: https://huggingface.co/datasets/cons909/V1-LeRobot-SO101-Eval-Videos.latest-so101arm-dataThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100_follower",
"total_episodes": 50,
"total_frames": 11939,
"total_tasks": 1,
"total_videos": 100,
"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":… See the full description on the dataset page: https://huggingface.co/datasets/baluatbfl/latest-so101arm-data.record-stacking-so101This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 119,
"total_frames": 119446,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:119"},
"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/hbseong/record-stacking-so101.armnetbench_v01_lerobot_bimanual_so101
ArmnetBench v0.1 — LeRobot (bimanual SO-101)
ArmnetBench v0.1 contains 50 human-teleoperated reference trajectories per task, plus
evaluation trajectories from 7 policies trained or fine-tuned on those reference datasets,
across 4 bimanual tasks on dual SO-101 arms. Data was collected for the ArmnetBench
v0.1 benchmark using the Armnet arm farm.
This repository is the native LeRobot v3.0 release
(one multi-camera episode per row, state/action parquet + packed AV1 videos).… See the full description on the dataset page: https://huggingface.co/datasets/armnet/armnetbench_v01_lerobot_bimanual_so101.wat.ai-so101Isaaclab-so101_11task_openpi_v21so101_chess_20251015community-v1-so101-pick_and_place-convertedThis dataset was created using LeRobot.
Dataset Description
Public LeRobot v3 derivative of the high-confidence pick-and-place, stacking,
sorting, and chess-relocation subset of HuggingFaceVLA/community_dataset_v1.
The source SO-100 six-joint action/state coordinates were converted into the
SO-101 coordinate convention measured in the author's 150-episode reference
set. The body-joint mapping is pan=x, shoulder_lift=180-x,
elbow_flex=x-180, wrist_flex=x, and wrist_roll=x;… See the full description on the dataset page: https://huggingface.co/datasets/zmfldlwx/community-v1-so101-pick_and_place-converted.so101_tb4_pick_place_QIso101-table-cleanupThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_follower",
"total_episodes": 1,
"total_frames": 1358,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1"
},
"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/youliangtan/so101-table-cleanup.so101-long-horizon-datasetombo
so101-long-horizon-datasetombo
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.
so101_tb4_RJ_testing_RB0eval_smolvla-so101-4tasks-aug-v2_stack_30This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 25,
"total_frames": 76615,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"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/hjkso1406/eval_smolvla-so101-4tasks-aug-v2_stack_30.so101-red-cube_20260908_113622This 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/dharak22/so101-red-cube_20260908_113622.so101_cube_diskThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 12,
"features": {
"observation.images.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height":… See the full description on the dataset page: https://huggingface.co/datasets/alexis779/so101_cube_disk.eval_bi_so101_round1_4camThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_so_follower",
"total_episodes": 601,
"total_frames": 637163,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:601"},
"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/Zekai-Chen/eval_bi_so101_round1_4cam.Physical_AI_SO101_Cup_Nesting_Task
DecisionFacts Physical AI Dataset — SO-101 Robotic Arm Teleoperation
Data Summary
This dataset is a curated collection of real-world teleoperation data captured on the SO-101 robotic arm (so_follower), built to support training and evaluation of modern robot-learning models — from imitation-learning policies to large-scale Vision-Language-Action (VLA) and world models.
Each episode is a human-teleoperated demonstration of a manipulation task, recorded… See the full description on the dataset page: https://huggingface.co/datasets/DecisionFacts/Physical_AI_SO101_Cup_Nesting_Task.so101_teleop_vials_rack_leftso101_cubeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 50,
"total_frames": 29698,
"total_tasks": 1,
"total_videos": 100,
"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":… See the full description on the dataset page: https://huggingface.co/datasets/samsitol/so101_cube.tic-tac-toe-so101-block-a-clean-v1
SO-101 Tic-Tac-Toe Block A — Games 1–15
A revision-pinned, dual-camera physical-manipulation dataset for language-conditioned placement of 3D-printed tic-tac-toe pieces with an SO-101 follower arm.
Abstract
This dataset contains 195 physical SO-101 demonstrations, 144,723 synchronized frames, and 18 language-conditioned placement tasks. A human operator controlled an SO-101 follower through a leader arm while two RGB cameras observed the tabletop… See the full description on the dataset page: https://huggingface.co/datasets/HashtagRobotics/tic-tac-toe-so101-block-a-clean-v1.so101-expanded-v3-success-plus-unlabeled
SO101 Expanded v3 — Success + Unlabeled with Filtered Training View
This public dataset combines a canonical LeRobot v3.0 SO100/SO101 single-arm release with the
fully audited joint-delta filtering sidecars used to select training observations and targets.
It is the success-plus-unlabeled view only. It does not contain the companion release's
explicitly failed or suboptimal trajectories.
Release summary
Field
Value
Canonical episodes
17,745
Canonical… See the full description on the dataset page: https://huggingface.co/datasets/shuaishuaicdp/so101-expanded-v3-success-plus-unlabeled.so101_chess17This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 103,
"total_frames": 75874,
"total_tasks": 1,
"total_videos": 206,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:103"
},
"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/Cornito/so101_chess17.