datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
GR1-Tabletop-NextState-1000x24
GR1 Tabletop Merged LeRobot Datasets
Merged and subsampled versions of the GR1 tabletop manipulation datasets from the NVIDIA PhysicalAI-Robotics-GR00T-X-Embodiment-Sim collection, formatted in LeRobot v2.0 format.
Dataset Variants
Variant
Demos/Task
Tasks
Total Episodes
Total Frames
Approx Size
1000x24/
1000
24 folders, 186 unique tasks
24,000
6,020,058
~40 GB
300x24/
300
24 folders, 186 unique tasks
7,200
1,803,236
~12 GB
100x24/
100
24 folders… See the full description on the dataset page: https://huggingface.co/datasets/Joocjun/GR1-Tabletop-NextState-1000x24.G1_Dex1_Wipe_TableThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex1_Wipe_Table.table_spill_cleanup_bimanual_rgbd_segmentation_poses
Exylos Bimanual Table Spill Cleanup Rich-Modality Sample
A compact, rich-modality bimanual robot manipulation dataset for tabletop spill cleanup.
Each episode combines synchronized dual-arm Panda state/action trajectories, 7 RGB camera streams, per-frame depth maps, per-frame segmentation masks, object pose streams, phase annotations, and an objective cleanup success metric based on the remaining spill fraction.
This dataset is a rich-modality inspection sample for the Exylos… See the full description on the dataset page: https://huggingface.co/datasets/ExylosAi/table_spill_cleanup_bimanual_rgbd_segmentation_poses.G1_Dex1_DualRobot_Clean_TableThis dataset was created using LeRobot.
Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
meta/info.json:
{
"codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex1_DualRobot_Clean_Table.helpmate-tables
Helpmate tablebases
Exhaustively solved helpmate
tablebases: for every legal position in a material class, the distance to
mate under optimal cooperation and the number of distinct optimal
solutions.
That second number is the useful one. It is what tells a composer whether a
position is a sound problem (count = 1) or has duals.
Generated by
osick/helpmate-tablebase
(MIT). These files are the data; that repository is the code that builds and
reads them.
559 six-piece tablebases… See the full description on the dataset page: https://huggingface.co/datasets/osick/helpmate-tables.Cobot_Magic_the_box_stores_table_tennis_balls
Cobot_Magic_the_box_stores_table_tennis_balls
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: agilex_cobot_decoupled_magic
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
place
pick
📊 Dataset… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/Cobot_Magic_the_box_stores_table_tennis_balls.table_spill_cleanup_bimanual
Exylos Bimanual Spill Cleanup — Rich-Modality 50-Episode Sample
50 episodes of a bimanual Franka Panda wiping a liquid spill off a tabletop. Synthetic, VR-teleop demonstrations retargeted to two 7-DoF arms — 6 RGB views (3 with depth + segmentation), 6-DoF object poses, and a ground-truth dirty_fraction cleanliness signal, packaged in LeRobot v2.1.
Release note: this rich-modality v2 release replaces the original public 50-episode preview in place. The previous dataset… See the full description on the dataset page: https://huggingface.co/datasets/ExylosAi/table_spill_cleanup_bimanual.G1_WBT_Dex1_Building-Children-Table
Data Structure
Observations
observation.state.ee_state (12)
End-effector states of the robot.
Computed via forward kinematics (FK) from the root link to the left and right end-effectors.
Includes the contribution of the waist.
Represented as concatenated poses of both end-effectors.
observation.state.hand_state (2)
Finger states for both hands.
Dex1 Hand (range: 5.5 – 0.0, open → close)
Per hand:
Open/close… See the full description on the dataset page: https://huggingface.co/datasets/BitRobot/G1_WBT_Dex1_Building-Children-Table.RMC-AIDA-L_clean_table
RMC-AIDA-L_clean_table
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: realman_rmc_aidal
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
restaurant
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
wipe
📊 Dataset Statistics… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/RMC-AIDA-L_clean_table.Cobot_Magic_classification_of_tableware
Cobot_Magic_classification_of_tableware
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: agilex_cobot_decoupled_magic
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/Cobot_Magic_classification_of_tableware.so101-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.Agilex_Cobot_Magic_wipe_the_table
Agilex_Cobot_Magic_wipe_the_table
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: Agilex_Cobot_Magic
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
kitchen
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
place
pick
wipe
📊 Dataset Statistics… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/Agilex_Cobot_Magic_wipe_the_table.alpha_bot_2_move_the_table
alpha_bot_2_move_the_table
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: alpha_bot_2
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics
Metric
Value… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/alpha_bot_2_move_the_table.R1_Lite_wash_the_tableware
R1_Lite_wash_the_tableware
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: galaxea_r1_lite
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics
Metric
Value… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/R1_Lite_wash_the_tableware.Agilex_Cobot_Magic_wipe_table
Agilex_Cobot_Magic_wipe_table
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: Agilex_Cobot_Magic
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
kitchen
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
place
pick
wipe
📊 Dataset Statistics… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/Agilex_Cobot_Magic_wipe_table.Cobot_Magic_put_the_building_block_on_the_table
Cobot_Magic_put_the_building_block_on_the_table
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: agilex_cobot_decoupled_magic
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
rotate
📊… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/Cobot_Magic_put_the_building_block_on_the_table.utokyo_pr2_tabletop_manipulationThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 240,
"total_frames": 32708,
"total_tasks": 3,
"total_videos": 240,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:240"
},
"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/utokyo_pr2_tabletop_manipulation.ArXiv-tables
Arxiv-tables Dataset
Dataset Summary
The Arxiv-tables dataset is a collection of tables extracted from scientific papers published on arXiv, primarily focused on ML papers. It includes both the LaTeX source of the tables and their corresponding rendered images from the PDF versions of the papers.
Supported Tasks
This dataset can support several tasks, including but not limited to:
Table structure recognition
LaTeX to image generation for tables
Image-to-LaTeX… See the full description on the dataset page: https://huggingface.co/datasets/staghado/ArXiv-tables.R1_Lite_tea_service_table_setting
R1_Lite_tea_service_table_setting
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: galaxea_r1_lite
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics
Metric… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/R1_Lite_tea_service_table_setting.R1_Lite_tableware_cleaning
R1_Lite_tableware_cleaning
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: galaxea_r1_lite
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics
Metric
Value… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/R1_Lite_tableware_cleaning.asu_table_topThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 110,
"total_frames": 26113,
"total_tasks": 216,
"total_videos": 110,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:110"
},
"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/asu_table_top.MolmoAct2-MolmoAct-Dataset-Tabletop
MolmoAct2-MolmoAct-Dataset-Tabletop
This dataset was created using LeRobot.
Language Annotations
This dataset includes annotated language instructions in meta/tasks_annotated.parquet. The file is indexed by episode_index and has a task column containing our per-episode annotated instruction.
The standard LeRobot loader resolves a frame's language instruction through task_index: each data row stores a task_index, which is looked up in meta/tasks.parquet. When you… See the full description on the dataset page: https://huggingface.co/datasets/allenai/MolmoAct2-MolmoAct-Dataset-Tabletop.language_table_lerobot_v30This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "xarm",
"total_episodes": 442226,
"total_frames": 7045476,
"total_tasks": 127605,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:442226"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"… See the full description on the dataset page: https://huggingface.co/datasets/tailong-wu/language_table_lerobot_v30.R1_Lite_wipe_the_table
R1_Lite_wipe_the_table
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: galaxea_r1_lite
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics
Metric
Value… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/R1_Lite_wipe_the_table.clean_up_table_v2.1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "yam_bimanual",
"total_episodes": 194,
"total_frames": 148588,
"total_tasks": 5,
"total_videos": 582,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:194"
},
"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/YOLO2431/clean_up_table_v2.1.Cobot_Magic_clean_up_the_tableware
Cobot_Magic_clean_up_the_tableware
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: agilex_cobot_decoupled_magic
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/Cobot_Magic_clean_up_the_tableware.R1_Lite_put_the_tableware_into_the_cupboard
R1_Lite_put_the_tableware_into_the_cupboard
📋 Overview
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
Robot Type: galaxea_r1_lite
| Codebase Version: v2.1
End-Effector Type: two_finger_gripper
🏠 Scene Types
This dataset covers the following scene types:
home
🤖 Atomic Actions
This dataset includes the following atomic actions:
grasp
pick
place
📊 Dataset Statistics… See the full description on the dataset page: https://huggingface.co/datasets/RoboCOIN/R1_Lite_put_the_tableware_into_the_cupboard.robocolosseum-so101-black-screwdriver-box-to-table-100episodesThis dataset was created using LeRobot.
Visualize this dataset
The original recorded values are preserved. No MolmoAct2-specific coordinate conversion or normalization has been applied. All episodes are currently in the train split; create episode-level train/validation splits before experiments.
Validation
Episode/frame indexing and finite six-channel state/action arrays passed checks; all 200 videos fully decoded. Video/data frame-count mismatches were found: see the report… See the full description on the dataset page: https://huggingface.co/datasets/Jiamo0912/robocolosseum-so101-black-screwdriver-box-to-table-100episodes.FR5_task2_transfer_the_gray_tablets_from_the_brown_bottle_into_another_brown_bottleThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "fairino_follower",
"total_episodes": 200,
"total_frames": 293120,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:200"
},
"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/coport-uni/FR5_task2_transfer_the_gray_tablets_from_the_brown_bottle_into_another_brown_bottle.GR1-Tabletop-NextState-100x24
GR1 Tabletop Merged LeRobot Datasets
Merged and subsampled versions of the GR1 tabletop manipulation datasets from the NVIDIA PhysicalAI-Robotics-GR00T-X-Embodiment-Sim collection, formatted in LeRobot v2.0 format.
Dataset Variants
Variant
Demos/Task
Tasks
Total Episodes
Total Frames
Approx Size
1000x24/
1000
24 folders, 186 unique tasks
24,000
6,020,058
~40 GB
300x24/
300
24 folders, 186 unique tasks
7,200
1,803,236
~12 GB
100x24/
100
24 folders… See the full description on the dataset page: https://huggingface.co/datasets/Joocjun/GR1-Tabletop-NextState-100x24.