datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
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.PhysicalAI-Robotics-GR00T-Teleop-GR1
Introduction
TL;DR: DreamDojo is a generalist robot world model pretrained on 44k hours of human egocentric data, showing unprecedented generalization to diverse objects and environments.
Project page: https://dreamdojo-world.github.io/
Paper: https://arxiv.org/abs/2602.06949
Code: https://github.com/NVIDIA/DreamDojo
How to Use
Check out https://github.com/NVIDIA/DreamDojo
Citation
@article{gao2026dreamdojo,
title={DreamDojo: A Generalist Robot… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-Teleop-GR1.PhysicalAI-Robotics-GR00T-Teleop-G1
Unitree G1 Fruits Pick and Place 1K Dataset
Dataset Description:
The PhysicalAI-Robotics-GR00T-Teleop-G1 dataset consists of1000 teleoperation trajectories of real robot data using Unitree G1, with upper body control. The robot chooses the correct fruit to pick and place on the plate according to the language prompt. A total of 4 fruits are used: Apple, Pear, Starfruit, Grape. The robot is equipped with the default realsense camera, and a pair of Unitree G1 Tri-fingers… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-Teleop-G1.droid_v3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "Franka",
"total_episodes": 95658,
"total_frames": 27630375,
"total_tasks": 49630,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:95658"
},
"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/DAVIAN-Robotics/droid_v3.chinese-ai-and-robotics-open-intelligence
🔬 Chinese AI, Humanoid Robotics & Neural Systems Open Intelligence Dataset
Curated open intelligence dataset tracking Chinese frontier developments in Large Language Models (LLMs), Humanoid Dynamic Locomotion, 3D Computer Vision, and Neuromorphic edge processors.
[!IMPORTANT]
Data Completeness & Research Authenticity Notice:
Included in this Hugging Face Open Dataset: English structured abstracts, core quantitative takeaways, author institutional affiliations, and… See the full description on the dataset page: https://huggingface.co/datasets/simpleG2023/chinese-ai-and-robotics-open-intelligence.PhysicalAI-Robotics-Manipulation-Kitchen
PhysicalAI Robotics Manipulation in the Kitchen
Dataset Description:
PhysicalAI-Robotics-Manipulation-Kitchen is a dataset of automatic generated motions of robots performing operations such as opening and closing cabinets, drawers, dishwashers and fridges. The dataset was generated in IsaacSim leveraging reasoning algorithms and optimization-based motion planning to find solutions to the tasks automatically [1, 3]. The dataset includes a bimanual manipulator built with… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Kitchen.pick_and_place_bottleThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "reachy2",
"total_episodes": 86,
"total_frames": 12089,
"total_tasks": 1,
"total_videos": 172,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:86"
},
"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/pollen-robotics/pick_and_place_bottle.microduck-emotions
Microduck Emotions
A collection of emotions for the Microduck robot. Each one is a motion and a sound designed together, beat by
beat, with the beak opening on the sound, rendered in the physics simulation and validated on the real robot. Every
emotion is three files: the motion (emotions/<name>.json, keyframes at 30 fps: head and body offsets played on
top of whichever trained policy is active, plus the policy hand-overs, such as the sit that devastated and play dead
start)… See the full description on the dataset page: https://huggingface.co/datasets/pollen-robotics/microduck-emotions.PhysicalAI-Robotics-Manipulation-ObjectsPhysicalAI-Robotics-Manipulation-Objects is a dataset of automatic generated motions of robots performing operations such as picking and placing objects in a kitchen environment. The dataset was generated in IsaacSim leveraging reasoning algorithms and optimization-based motion planning to find solutions to the tasks automatically [1, 3]. The dataset includes a bimanual manipulator built with Kinova Gen3 arms. The environments are kitchen scenes where the furniture and appliances were… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Objects.rollout_dagger_r1_s2_b0_20260915_121327This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"action": {
"dtype": "float32",
"names": [
"act_0.pos",
"act_1.pos",
"act_2.pos",
"act_3.pos",
"act_4.pos",
"act_5.pos",
"act_6.pos",
"act_7.pos"
]… See the full description on the dataset page: https://huggingface.co/datasets/recast-robotics/rollout_dagger_r1_s2_b0_20260915_121327.factory-manipulation-videos
Factory manipulation videos
Procedural Robotics is open sourcing a small set of our factory data so teams can assess its quality. The videos show workers performing factory tasks.
Contents
Seven continuous takes, 109 minutes in total.
Task
Station
Worker
Duration
File
cardboard manipulation
01
041
23.6 min
cardboard_manipulation_station01_worker041.mp4
cardboard manipulation
04
026
16.5 min
cardboard_manipulation_station04_worker026.mp4
defect… See the full description on the dataset page: https://huggingface.co/datasets/procedural-robotics/factory-manipulation-videos.qwen_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.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.team2-guess_who_so100_lightThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 96,
"total_frames": 19853,
"total_tasks": 1,
"total_videos": 96,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:96"
},
"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/roboticshack/team2-guess_who_so100_light.apple_storage_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "reachy2",
"total_episodes": 54,
"total_frames": 12906,
"total_tasks": 1,
"total_videos": 54,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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/pollen-robotics/apple_storage_2.bimanual_blue_block_handover_24This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "bi_so101_follower",
"total_episodes": 30,
"total_frames": 22486,
"total_tasks": 1,
"total_videos": 90,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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/Mimic-Robotics/bimanual_blue_block_handover_24.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.mimic_simpleClothFolding_v1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "mimic_follower",
"total_episodes": 222,
"total_frames": 384490,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:222"
},
"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/Mimic-Robotics/mimic_simpleClothFolding_v1.team13-three-balls-stackingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 101,
"total_frames": 48652,
"total_tasks": 1,
"total_videos": 202,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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/roboticshack/team13-three-balls-stacking.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.challenge2026_dataset
Challenge 2026 Dataset
This dataset provides training/evaluation data for the 2026 Global Humanoid Robot Challenge Simulation Competition.
Data Format: LeRobot v3.0
Directory Structure
Part_Sorting/ - Desktop Fine-Grained Part Sorting
├── data/
├── meta/
├── videos/
Packing_Box/ - Carton Sealing and Packing
├── data/
├── meta/
├── videos/
Foam_Inlaying/ - Precise Part Assembly
├── data/
├──… See the full description on the dataset page: https://huggingface.co/datasets/UBTECH-Robotics/challenge2026_dataset.gr1_arena_sequential_task_replay
GR1 Arena — Ranch Bottle Into Fridge (new camera pose, ego + wrist, replay)
LeRobot-format teleoperation/replay dataset for the GR1 humanoid performing the
put_item_in_fridge_and_close_door task in Isaac Lab Arena.
Task: Place the ranch dressing bottle on the top shelf of the fridge, and
close the fridge door. (object: ranch_dressing_hope_robolab)
What this dataset is
This is a re-rendered / replayed version of the official NVIDIA Arena
dataset. The source… See the full description on the dataset page: https://huggingface.co/datasets/china-sae-robotics/gr1_arena_sequential_task_replay.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.team-7-right-arm-grasp-tapeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 100,
"total_frames": 59711,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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/roboticshack/team-7-right-arm-grasp-tape.apple_storageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "reachy2",
"total_episodes": 50,
"total_frames": 14983,
"total_tasks": 1,
"total_videos": 50,
"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/pollen-robotics/apple_storage.so101_2cam_red_cube_v5This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 30,
"total_frames": 19141,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:30"
},
"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/L7-Robotics/so101_2cam_red_cube_v5.golf-2-8fps-plus-no-puttThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 8,
"features": {
"action": {
"dtype": "float32",
"shape": [
8
],
"names": [
"arm_right_joint_1",
"arm_right_joint_2",
"arm_right_joint_3",
"arm_right_joint_4",
"arm_right_joint_5"… See the full description on the dataset page: https://huggingface.co/datasets/puppet-robotics/golf-2-8fps-plus-no-putt.mimic_ttt_redx_ALLBAL_15hz_stableThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "mimic_follower",
"total_episodes": 678,
"total_frames": 326999,
"total_tasks": 18,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:678"
},
"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/Mimic-Robotics/mimic_ttt_redx_ALLBAL_15hz_stable.robotics-quality-leaderboard
Robotics Dataset Quality Leaderboard
What This Is
This repository hosts an automatically-updated quality leaderboard for robotics
imitation-learning datasets on HuggingFace. Each dataset is scored by the
HaptalAI quality scorer, an
open-source tool that streams a sample of episodes from a dataset, detects the
available sensor schema, runs a suite of failure-detection checks, and computes
a single 0–100 quality score. The leaderboard is intended as a first-pass… See the full description on the dataset page: https://huggingface.co/datasets/HaptalAI/robotics-quality-leaderboard.