datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
berkeley_autolab_ur5_lerobotThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "ur5",
"total_episodes": 896,
"total_frames": 87783,
"total_tasks": 5,
"total_videos": 1792,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:896"
},
"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/IPEC-COMMUNITY/berkeley_autolab_ur5_lerobot.UR50_2021_04
Dataset Card for UR50_2021_04
Dataset Summary
The Uniref50 (UR50) dataset version 2021/04 is a biological dataset taken from the Uniprot database: https://www.uniprot.org/
Supported Tasks and Leaderboards
The UR50 dataset contains 48 Million protein sequences. It is a useful dataset to train protein language models.
Languages
Proteins
Dataset Structure
Data Instances
Data Fields
Data Splits
Train… See the full description on the dataset page: https://huggingface.co/datasets/nferruz/UR50_2021_04.berkeley_autolab_ur5_rawberkeley_autolab_ur5This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 1000,
"total_frames": 97939,
"total_tasks": 5,
"total_videos": 3000,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"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/lerobot/berkeley_autolab_ur5.dual_ur5e_holdThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 10,
"features": {
"observation.joint_position": {
"dtype": "float32",
"shape": [
12
],
"names": [
"arm_left_joint_0",
"arm_left_joint_1",
"arm_left_joint_2",
"arm_left_joint_3",
"arm_left_joint_4"… See the full description on the dataset page: https://huggingface.co/datasets/takeru01/dual_ur5e_hold.berkeley_autolab_ur5_train_200_300_augmented
berkeley_autolab_ur5_train_200_300
Overview
Codebase version: v2.1
Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, widowX, xarm7
FPS: 5.0
Episodes: 100
Frames: 9,730
Videos: 900
Chunks: 1
Splits:
train: 0:100
Data Layout
data_path : data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
Features
Feature
dtype… See the full description on the dataset page: https://huggingface.co/datasets/oxe-auge/berkeley_autolab_ur5_train_200_300_augmented.berkeley_autolab_ur5_train_300_400_augmented
berkeley_autolab_ur5_train_300_400
Overview
Codebase version: v2.1
Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, widowX, xarm7
FPS: 5.0
Episodes: 100
Frames: 9,934
Videos: 900
Chunks: 1
Splits:
train: 0:100
Data Layout
data_path : data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
Features
Feature
dtype… See the full description on the dataset page: https://huggingface.co/datasets/oxe-auge/berkeley_autolab_ur5_train_300_400_augmented.berkeley_autolab_ur5_train_0_100_augmented
berkeley_autolab_ur5_train_0_100
Overview
Codebase version: v2.1
Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, widowX, xarm7
FPS: 5.0
Episodes: 100
Frames: 9,863
Videos: 900
Chunks: 1
Splits:
train: 0:100
Data Layout
data_path : data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
Features
Feature
dtype
shape… See the full description on the dataset page: https://huggingface.co/datasets/oxe-auge/berkeley_autolab_ur5_train_0_100_augmented.berkeley_autolab_ur5_train_500_600_augmented
berkeley_autolab_ur5_train_500_600
Overview
Codebase version: v2.1
Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, widowX, xarm7
FPS: 5.0
Episodes: 100
Frames: 9,886
Videos: 900
Chunks: 1
Splits:
train: 0:100
Data Layout
data_path : data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
Features
Feature
dtype… See the full description on the dataset page: https://huggingface.co/datasets/oxe-auge/berkeley_autolab_ur5_train_500_600_augmented.berkeley_autolab_ur5_train_600_700_augmented
berkeley_autolab_ur5_train_600_700
Overview
Codebase version: v2.1
Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, widowX, xarm7
FPS: 5.0
Episodes: 100
Frames: 9,804
Videos: 900
Chunks: 1
Splits:
train: 0:100
Data Layout
data_path : data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
Features
Feature
dtype… See the full description on the dataset page: https://huggingface.co/datasets/oxe-auge/berkeley_autolab_ur5_train_600_700_augmented.ur5e_pi05_rollouts
UR5e pi0.5 rollouts
Policy rollouts of mahgoobi/ur5e_pi05_10k on a
real UR5e with a Robotiq gripper, task "put the cup in the bowl", collected 2026-09-01 from
the deployment page in RoboResearch
(roboresearch.evaluation.ur5e.ui). 25 episodes at 20 Hz, action chunks of 50 steps
with action_steps of them executed per chunk (25 for every episode but the first, which
ran 10). 20 successes, 5 failures. Every failure is in a scene with
three or more distractors; the clean and… See the full description on the dataset page: https://huggingface.co/datasets/mahgoobi/ur5e_pi05_rollouts.berkeley_autolab_ur5_train_400_500_augmented
berkeley_autolab_ur5_train_400_500
Overview
Codebase version: v2.1
Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, widowX, xarm7
FPS: 5.0
Episodes: 100
Frames: 9,479
Videos: 900
Chunks: 1
Splits:
train: 0:100
Data Layout
data_path : data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
Features
Feature
dtype… See the full description on the dataset page: https://huggingface.co/datasets/oxe-auge/berkeley_autolab_ur5_train_400_500_augmented.berkeley_autolab_ur5_test_augmented
berkeley_autolab_ur5_test
Overview
Codebase version: v2.1
Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, widowX, xarm7
FPS: 5.0
Episodes: 104
Frames: 10,156
Videos: 936
Chunks: 1
Splits:
train: 0:104
Data Layout
data_path : data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
Features
Feature
dtype
shape… See the full description on the dataset page: https://huggingface.co/datasets/oxe-auge/berkeley_autolab_ur5_test_augmented.berkeley_autolab_ur5_train_800_896_augmented
berkeley_autolab_ur5_train_800_896
Overview
Codebase version: v2.1
Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, widowX, xarm7
FPS: 5.0
Episodes: 96
Frames: 9,360
Videos: 864
Chunks: 1
Splits:
train: 0:96
Data Layout
data_path : data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
Features
Feature
dtype
shape… See the full description on the dataset page: https://huggingface.co/datasets/oxe-auge/berkeley_autolab_ur5_train_800_896_augmented.berkeley_autolab_ur5_train_100_200_augmented
berkeley_autolab_ur5_train_100_200
Overview
Codebase version: v2.1
Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, widowX, xarm7
FPS: 5.0
Episodes: 100
Frames: 10,043
Videos: 900
Chunks: 1
Splits:
train: 0:100
Data Layout
data_path : data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
Features
Feature
dtype… See the full description on the dataset page: https://huggingface.co/datasets/oxe-auge/berkeley_autolab_ur5_train_100_200_augmented.ur5_parallel_greenblockThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 54,
"total_frames": 19572,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:54"
},
"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/hyzhang01/ur5_parallel_greenblock.berkeley_autolab_ur5_train_700_800_augmented
berkeley_autolab_ur5_train_700_800
Overview
Codebase version: v2.1
Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, widowX, xarm7
FPS: 5.0
Episodes: 100
Frames: 9,684
Videos: 900
Chunks: 1
Splits:
train: 0:100
Data Layout
data_path : data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
Features
Feature
dtype… See the full description on the dataset page: https://huggingface.co/datasets/oxe-auge/berkeley_autolab_ur5_train_700_800_augmented.TELE_DATA_BIMANUAL_UR5
Change log
2026.04.28，第三视角相机从顶部改为固定的类人头部视角
2026.05.06，采集记录的action从机械臂的真实action变为下发目标，更加训推一致
ur5_pour_full_tcp240_noforce
pour_force_depth_eef_v21_full
This dataset was created using LeRobot and is stored in the episode-split LeRobot v2.1 layout used by OpenPI.
Dataset Structure
The dataset uses parquet files for per-frame robot observations/actions and episode-split videos for camera streams.
meta/
info.json
tasks.jsonl
episodes.jsonl
stats.json
episodes_stats.jsonl
data/
chunk-000/
episode_000000.parquet
videos/
chunk-000/
<video_key>/
episode_000000.mp4… See the full description on the dataset page: https://huggingface.co/datasets/giakhuyendihoc/ur5_pour_full_tcp240_noforce.mujoco_UR5e_datasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5e",
"total_episodes": 101,
"total_frames": 63765,
"total_tasks": 17,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:101"
},
"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/gubam/mujoco_UR5e_dataset.ur5e_dataset_20251012_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5e",
"total_episodes": 30,
"total_frames": 7695,
"total_tasks": 3,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10.0,
"splits": {
"train": "0:30"
},
"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/shirasu206/ur5e_dataset_20251012_v2.ur5_mixed_51_smoothThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ur5e",
"total_episodes": 51,
"total_frames": 41160,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:51"
},
"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/LPSlvlv/ur5_mixed_51_smooth.ur5_lerobot_foca_40This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5",
"total_episodes": 80,
"total_frames": 9973,
"total_tasks": 2,
"total_videos": 240,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:80"
},
"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/pmoller/ur5_lerobot_foca_40.ur5e_pi05_eval
UR5e pi0.5 evaluation
Evaluation of mahgoobi/ur5e_pi05_10k on a
real UR5e with a Robotiq gripper, 2026-09-02, from the deployment page in
RoboResearch. Five tasks, ten trials each, clean
scene, 25 of each 50-step chunk executed at 20 Hz.
Results
task
trials
success
failure
rate
put the cup in the bowl
10
9
1
90%
put the bowl on the rack
10
9
1
90%
put the mug on the coaster
10
10
0
100%
stack the two cubes
10
9
1
90%
put the book in the box
10
3… See the full description on the dataset page: https://huggingface.co/datasets/mahgoobi/ur5e_pi05_eval.ur5_parallel_u01This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 50,
"total_frames": 18765,
"total_tasks": 1,
"total_videos": 0,
"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/hyzhang01/ur5_parallel_u01.ur5_3finger_4tasksThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5",
"total_episodes": 123,
"total_frames": 24154,
"total_tasks": 4,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:123"
},
"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/hyzhang01/ur5_3finger_4tasks.RoboAI_UR5erobochallenge_dump_ur5This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "ur5",
"total_episodes": 1,
"total_frames": 2261,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"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/typoverflow/robochallenge_dump_ur5.dual_arm_ur5e_ur3e_20260606_v12This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "dual_arm_ur5e_ur3e",
"total_episodes": 50,
"total_frames": 44281,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 0.0001,
"video_files_size_in_mb": 0.0001,
"fps": 8,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/shirasu206/dual_arm_ur5e_ur3e_20260606_v12.ur5e-put-cb-on-dinThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 100,
"total_frames": 23480,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:100"},
"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/tlpss/ur5e-put-cb-on-din.