datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
mujocoloco-mujoco-datasetsdvla-mujoco-assetsopenarm-2-cell-pick_up_cube_mujoco-lerobot
openarm-2-cell-pick_up_cube_mujoco-lerobot
OpenArm 2 bimanual manipulation demonstrations ("pick up the cube") recorded in a
MuJoCo simulation cell through VR teleoperation, converted to the
LeRobot dataset format with
OpenArm Dataset.
Robot: OpenArm 2, bimanual (2 x 7 DoF + gripper, 16-dim state/action, joint positions)
Environment: MuJoCo simulation, VR teleoperation
Task: Pick up the cube.
Episodes: 30 (splits: train 0:24, val 24:30) — Frames: 5405 @ 30 fps
Cameras:… See the full description on the dataset page: https://huggingface.co/datasets/enactic/openarm-2-cell-pick_up_cube_mujoco-lerobot.libero_mujoco3.3.2_depth
LIBERO with depth (MuJoCo 3.3.2 re-render)
The four standard LIBERO benchmark suites,
re-rendered under MuJoCo 3.3.2 and republished in LeRobot v2.1 format with
per-camera metric depth added alongside the usual RGB. no_noops means idle
frames have been stripped.
Contents
This repo holds four independent LeRobot datasets, one per suite:
suite
episodes
frames
tasks
libero_10_no_noops_lerobot
388
104,160
10
libero_goal_no_noops_lerobot
433
52,895
10… See the full description on the dataset page: https://huggingface.co/datasets/flex-pi/libero_mujoco3.3.2_depth.mujoco-so101-stack_cubes-joystick-v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_mujoco",
"total_episodes": 43,
"total_frames": 89891,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:43"
},
"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/CarlosMunoz0/mujoco-so101-stack_cubes-joystick-v2.menagerie_mujocothermal_cycler_open-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "ur5e",
"total_episodes": 100,
"total_frames": 84994,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/autobio-bench/thermal_cycler_open-mujoco.thermal_mixer-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "ur5e",
"total_episodes": 100,
"total_frames": 79278,
"total_tasks": 100,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/autobio-bench/thermal_mixer-mujoco.pickup-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 100,
"total_frames": 49959,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/autobio-bench/pickup-mujoco.stretch-mujoco-tasksMuJoCoPickLift-v1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101",
"total_episodes": 10,
"total_frames": 3498,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:10"
},
"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/johnsutor/MuJoCoPickLift-v1.screw_tighten-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 100,
"total_frames": 154830,
"total_tasks": 1,
"total_videos": 300,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/autobio-bench/screw_tighten-mujoco.thermal_cycler_close-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "ur5e",
"total_episodes": 100,
"total_frames": 106292,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/autobio-bench/thermal_cycler_close-mujoco.dcs_mujoco_with_masksscrew_loose-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 100,
"total_frames": 136834,
"total_tasks": 1,
"total_videos": 300,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/autobio-bench/screw_loose-mujoco.libero_mujoco3.3.2
LIBERO MuJoCo 3.3.2 (Preprocessed LeRobot v2.1 Release)
This repository releases our preprocessed LIBERO dataset in LeRobot v2.1 format for the open-source release of Fast-WAM: Do World Action Models Need Test-time Future Imagination?
This is not an official upstream LIBERO data dump. It is our paper-specific processed release prepared to support training, evaluation, and reproducibility for our project.
This Hugging Face repository distributes the dataset as four .tar.gz… See the full description on the dataset page: https://huggingface.co/datasets/Zhanguang/libero_mujoco3.3.2.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.GraspClutter6D-YCB-MuJoCo
GraspClutter6D-YCB MuJoCo Dataset
This is a dataset of the GraspClutter6D and YCB 3D models adapted for use in MuJoCo. See https://2026vlmtaskplanningclutter.github.io/ for more information.
mujoco_menagerieso101_mujoco_oscThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos"… See the full description on the dataset page: https://huggingface.co/datasets/Long27/so101_mujoco_osc.insert_centrifuge_5430-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "ur5e",
"total_episodes": 100,
"total_frames": 54329,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/autobio-bench/insert_centrifuge_5430-mujoco.insert-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "ur5e",
"total_episodes": 100,
"total_frames": 55127,
"total_tasks": 10,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/autobio-bench/insert-mujoco.pipette-mujocoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "ur5e",
"total_episodes": 100,
"total_frames": 71014,
"total_tasks": 1,
"total_videos": 300,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"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/autobio-bench/pipette-mujoco.qsim-shelf-restocking-mujoco-300-lerobot
Qsim Shelf Restocking — LeRobot v2.1
300 successful simulated shelf-restocking episodes, converted from
the original Qsim HDF5 dataset
to LeRobot v2.1 for the current Q-research / OpenPI training stack.
600 successful placements: 297 with the left arm, 303 with the right arm.
300 placements on the middle shelf and 300 on the top shelf.
542,518 state/action rows at 50 Hz, about 3.01 hours of trajectories.
Three 320 × 240 RGB cameras: robot head (context), left wrist, right… See the full description on the dataset page: https://huggingface.co/datasets/qualiadev/qsim-shelf-restocking-mujoco-300-lerobot.MujocoUR5eCloth
MuJoCo environments
UR5e
MujocoUR5eClothEnv
Task to roll up the cloth.
The same data can be downloaded here.
RoboManipBaselines Paper
https://huggingface.co/papers/2509.17057
openarm-2-cell-pick_up_cube_mujoco-lerobot-pastThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "openarm_bimanual",
"total_episodes": 103,
"total_frames": 16992,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:82",
"val": "82:103"
},
"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/enactic/openarm-2-cell-pick_up_cube_mujoco-lerobot-past.so101_pick_red_block_sim_mujoco_fllowerThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [… See the full description on the dataset page: https://huggingface.co/datasets/ngocthuong2212/so101_pick_red_block_sim_mujoco_fllower.interactive-world-sim-mujoco-datamujoco_reach