datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
PhysicalAI-Robotics-Locomanipulation-GRAIL
📢 News
[2026-07-15] Released task-general tracking policy checkpoints trained on the released data. Follow the tracking doc to use them to track our released motion data.
[2026-07-14] Updated data/pickup_table and data/pickup_ground. If you downloaded them before this date, please re-download.
Dataset Overview
Tabletop Pickup
Ground Pickup
Tabletop Manipulation
Ground Manipulation
Sitting
Curb
Slope… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Locomanipulation-GRAIL.reachy-mini-wall-data
Reachy Mini — wall data (public)
posts.json for the Reachy Mini community wall: the AI-filtered posts shown publicly,
aggregated from Bluesky, YouTube, LinkedIn, TikTok, X and Reddit by the social-wall pipeline.
Fetch it directly (CORS-enabled) from any static site:
const url = "https://huggingface.co/datasets/pollen-robotics/reachy-mini-wall-data/resolve/main/posts.json";
const posts = await (await fetch(url)).json();
Each item: id, platform, author, handle, avatar, text… See the full description on the dataset page: https://huggingface.co/datasets/pollen-robotics/reachy-mini-wall-data.community-suspicious-samples
This dataset is part of the ULE-CIBERLAB Project: Transfer of knowledge in cybersecurity for the country's business fabric, funded by the European Union NextGeneration-EU, Recovery, Transformation and Resilience Plan, through INCIBE.
MALWARE-SAMPLES DATASET
Disclaimer: This repository may contain real samples of malware that can be executed (.exe) and artifacts related with their execution in CAPEv2 sandbox (JSON/HTML reports, screenshots, dropped files). DO NOT execute any of… See the full description on the dataset page: https://huggingface.co/datasets/unileon-robotics/community-suspicious-samples.PhysicalAI-Robotics-NuRec
Dataset Description
The Physical AI NuRec dataset seeks to empower robotic researchers to build the next generation of physical AI based end-to-end robotic models.
This dataset includes various 3DGUT in USD files that can be loaded in Isaac Sim. Some datasets also include a mesh and occupancy map. The Mesh components are used for collision detection while the 3DGUT components provide realistic rendering. The asset can also be used with Isaac Sim Extensions like MobilityGen for… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-NuRec.Uranus-Demo-Data
Download
Download and unpack the samples from either Hugging Face or ModelScope into examples/data/.
Hugging Face
pip install -U huggingface_hub
hf download D-Robotics/Uranus-Demo-Data \
--repo-type dataset \
--local-dir ./examples/data
ModelScope
pip install -U modelscope
modelscope download \
--dataset D-Robotics/Uranus-Demo-Data \
--local_dir ./examples/data
Each episode lands in ./examples/data/<episode_id>/ and can be passed… See the full description on the dataset page: https://huggingface.co/datasets/D-Robotics/Uranus-Demo-Data.Liberobioburden_labelled_dataPhysicalAI-Robotics-GR00T-Eval
EVAL-175
Dataset Description:
123 initial frame pictures from the robot's perspective before performing various tasks in the lab.
This dataset is ready for commercial/non-commercial use.
Dataset Owner(s):
NVIDIA Corporation (GEAR Lab)
Dataset Creation Date:
May 1, 2025
License/Terms of Use:
This dataset is governed by the Creative Commons Attribution 4.0 International License (CC-BY-4.0).
This dataset was created using a… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-Eval.robotic-scene-segmentation-miccai-2018tartandrive_offroad
TartanDrive Off-Road Traversability — LeRobotDataset
This dataset is a demonstration of a data pipeline. All 55 episodes /
124k frames were generated from raw, asynchronous TartanDrive 2.0 rosbags —
including a per-pixel traversability ground truth that does not exist in
the raw data: it is derived, self-supervised, from where the robot actually
drove. The conversion is **17 lines of channel→feature mapping** plus a
~100-line labeling composition of
apairo_preprocess… See the full description on the dataset page: https://huggingface.co/datasets/apairo-robotics/tartandrive_offroad.certificatesqwen_robotics_open_dataset_robosense
Robot Navigation Open Scenarios: RoboSense
Image-in, trajectory-out navigation scenarios with 3D ground truth, for evaluating a navigating
robot (the intended use is humanoid navigation). Converted from
RoboSense (Su et al., CVPR 2025).
Each scenario has two halves:
Input, the past. Front-camera images of the 10 past frames and the current frame, plus the
robot's own past positions. No obstacle information.
Ground truth, the future. The robot's recorded trajectory over the 10… See the full description on the dataset page: https://huggingface.co/datasets/Jinyan0924/qwen_robotics_open_dataset_robosense.pi-embodied-rd-interactions
pi-embodied Robotics R&D Multimodal Interactions
This public dataset contains 2,396 project-scoped agent turns, including 184 turns with recoverable, published images. It preserves successful, unsuccessful, interrupted and unverified interactions without inventing outcome labels.
Storage
data/train-*.parquet: normalized interactions with an explicit Arrow schema and Zstandard compression.
media/<hash-prefix>/<sha256>.<extension>: deduplicated original image bytes… See the full description on the dataset page: https://huggingface.co/datasets/LV-Robotics-Lab/pi-embodied-rd-interactions.TaskGrasp-Pro
TaskGrasp-Pro dataset
The TaskGrasp-Pro dataset extends the original TaskGrasp dataset by providing fine-grained part decompositions and part-level physical property annotations for 190 household objects. For each object instance, we design three types of tasks: category-related tasks, part-related tasks, and part-irrelevant tasks, resulting in a total of 2,850 tasks.
Files
scans/ contains the point clouds of objects, multi-view RGB-D images, different types of task… See the full description on the dataset page: https://huggingface.co/datasets/WCL-Robotics/TaskGrasp-Pro.qwen_robotics_nav_pretrain_dedup
Navigation pretraining frames, deduplicated
A 49,391-sample training set for the final-frame pretraining task of
qwen_robotics_open_dataset: past camera views + the view
5 s ahead → the recorded motion in between. It is cut from the same four open sources as the full per-frame sets
(1.11 M frames), keeping motion diversity first and scene diversity second, so that a pass over it costs a
fraction of the time and the rare behaviours (turns, stops, starts) are not drowned by… See the full description on the dataset page: https://huggingface.co/datasets/Jinyan0924/qwen_robotics_nav_pretrain_dedup.qwen_robotics_open_dataset_egowalk
EgoWalk navigation frames
EgoWalk (MIT) converted into a per-frame training
format for image-in, trajectory-out navigation policies: 57 hours and 232 km of people walking
in Moscow, indoors (malls, stations, offices) and outdoors, filmed by a chest-mounted ZED camera, with
visual odometry and about 79,000 language goals ("Walk to the glass door on the left").
It is one of the training sources of qwen_robotics_open_dataset,
which builds training data usable by both… See the full description on the dataset page: https://huggingface.co/datasets/Jinyan0924/qwen_robotics_open_dataset_egowalk.PhysicalAI-Robotics-mindmap-Franka-Cube-Stacking
Dataset Description:
This dataset is a multimodal collection of trajectories generated in Isaac Lab on the Cube Stacking task defined in mindmap.
The task was created to evaluate robot manipulation policies on their spatial memory capabilities.
With this (partial) dataset you can generate the full dataset used for mindmap model training,
run a mindmap training or evaluate mindmap open/closed loop.
This dataset is for research and development only.
Dataset Owner(s):… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-mindmap-Franka-Cube-Stacking.qwen_robotics_open_dataset
Robot Navigation Open Scenarios: CODa
Image-in, trajectory-out navigation scenarios with 3D ground truth, for evaluating a
navigating robot (the intended use is humanoid navigation). Converted from the
UT Campus Object Dataset (CODa).
Each scenario has two halves:
Input, the past. Front-camera images of the 10 past frames and the current frame, plus the
robot's own past positions. No obstacle information.
Ground truth, the future. The robot's recorded trajectory over the 10… See the full description on the dataset page: https://huggingface.co/datasets/Jinyan0924/qwen_robotics_open_dataset.openarm-cube-distractor-lang-v3-relThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "openarm_bimanual_sim",
"total_episodes": 500,
"total_frames": 222451,
"total_tasks": 5,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:500"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/qualia-robotics/openarm-cube-distractor-lang-v3-rel.anyskin_slip_detection
Slip Detection Dataset
A Reachy 2's gripper has been equipped with an Anyskin tactile sensor, composed of 5 magnetic sensors. This dataset aims to reproduce the slip detection task described in the paper.
Capture protocol
A list of 16 objects with various hardness levels has been selected (see pictures folder).
The gripper closure was manually triggered. Then the operator pulled the object without removing it from the gripper. Four forces were applied in different… See the full description on the dataset page: https://huggingface.co/datasets/pollen-robotics/anyskin_slip_detection.SynthRender_Robotics
SynthRender_Robotics: Synthetic Training Sets for the Robotics Sim-to-Real Benchmark
This repository hosts the synthetic training sets generated with SynthRender and used to benchmark sim-to-real transfer on the public Robotics dataset (Horváth et al., 2022), as reported in "SynthRender and IRIS: Open-Source Framework and Dataset for Bidirectional Sim-Real Transfer in Industrial Object Perception" (arXiv:2602.21141).
Sample Images (720x720)… See the full description on the dataset page: https://huggingface.co/datasets/moiaraya/SynthRender_Robotics.openarm-cube-distractor-lang-v3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "openarm_bimanual_sim",
"total_episodes": 500,
"total_frames": 222451,
"total_tasks": 5,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:500"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/qualia-robotics/openarm-cube-distractor-lang-v3.breakfast_robocup_homeagentworld_assetsTactile_Manipulation_Dataset
Dataset for Tactile Manipulation Tasks
Acknowledgements
The USD and calibration assets of Franka Panda with tactile sensor GelsightMini are from TacEx.
DRRMVeridis
VERIDIS Dataset
Overview
This repository contains the VERIDIS dataset, a collection of annotated agricultural images for crop detection and identification. The dataset comprises field images of beet and corn crops captured by a ground-level robotic platform, organized in YOLO format for object detection tasks.
The dataset primarily captures crops at early growth stages, which is particularly relevant for applications such as plant detection, early monitoring, and… See the full description on the dataset page: https://huggingface.co/datasets/unileon-robotics/Veridis.qwen_robotics_nav_eval
Robot navigation evaluation suite (v2)
150 hand-audited scenarios for image-in, path-out navigation policies of an indoor robot (a walking
humanoid, about 0.5 m/s): 100 indoor and 50 outdoor, drawn from 4 open datasets, each with a text prompt
that contains the goal and 3D ground truth (lidar, tracked people, obstacle maps) for scoring. Built by
qwen_robotics_open_dataset
(scripts/build_eval_suite.py; design and decisions in docs/eval_design.md, every audit decision in… See the full description on the dataset page: https://huggingface.co/datasets/Jinyan0924/qwen_robotics_nav_eval.TacRich-Manip-LeRobot-teleoperation-insert-peg-cylinder
TacRich-Manip LeRobot v3 — insert_peg_cylinder
Multimodal real-robot trajectories for gripper-based contact-rich manipulation,
published in the standard LeRobot v3 layout. This task repository contains
teleoperation/insert_peg_cylinder and is private during active collection.
Dataset summary
Property
Value
Repository
qingzhu-robotics/TacRich-Manip-LeRobot-teleoperation-insert-peg-cylinder
Collection method
teleoperation
Robot
rm75b-pika-tachin… See the full description on the dataset page: https://huggingface.co/datasets/qingzhu-robotics/TacRich-Manip-LeRobot-teleoperation-insert-peg-cylinder.TacRich-Manip-LeRobot-teleoperation-cyclically-arrange-steel-plate
TacRich-Manip LeRobot v3 — cyclically_arrange_steel_plate
Multimodal real-robot trajectories for gripper-based contact-rich manipulation,
published in the standard LeRobot v3 layout. This task repository contains
teleoperation/cyclically_arrange_steel_plate and is private during active collection.
Dataset summary
Property
Value
Repository
qingzhu-robotics/TacRich-Manip-LeRobot-teleoperation-cyclically-arrange-steel-plate
Collection method… See the full description on the dataset page: https://huggingface.co/datasets/qingzhu-robotics/TacRich-Manip-LeRobot-teleoperation-cyclically-arrange-steel-plate.