datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
svla_so100_sortingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"robot_type": "so100",
"total_episodes": 52,
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/svla_so100_sorting.eval_molmoact_candy_sorting_in-distributionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"robot_type": "bi_yam_follower",
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"total_frames": 59645,
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"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/allenai/eval_molmoact_candy_sorting_in-distribution.vlm_block_sorting_pi05_20261005_relaxed_v2synthetic-sorting
Synthetic Sorting Dataset
This dataset is generated by randomly shuffling the numbers according to the predefined probability distribution of numbers. The task is to sort the numbers in ascending order.
I used the script from deep-spin/infinite-former to generate the dataset with longer sequence lengths and larger examples.
Total 21 number of tokens are used in the dataset. The symbols are in the range of 0 to 19. The last "20" token is special and means the end of sequence. Use… See the full description on the dataset page: https://huggingface.co/datasets/cosmoquester/synthetic-sorting.industrial_screws_sorting_expertThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"robot_type": "so100",
"total_episodes": 20,
"total_frames": 29859,
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"total_videos": 40,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:20"
},
"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/kantine/industrial_screws_sorting_expert.shape-sorting-so101-30fpsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"fps": 30,
"features": {
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"dtype": "float32",
"shape": [
6
],
"names": [
"Rotation",
"Pitch",
"Elbow",
"Wrist_Pitch",
"Wrist_Roll",
"Jaw"
]
}… See the full description on the dataset page: https://huggingface.co/datasets/Artefacts/shape-sorting-so101-30fps.block_sorting_singleThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"robot_type": "xlerobot",
"total_episodes": 256,
"total_frames": 153183,
"total_tasks": 4,
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"data_files_size_in_mb": 100,
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"fps": 30,
"splits": {
"train": "0:256"
},
"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/Odog16/block_sorting_single.eval_xvla_candy_sorting_in-distributionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"total_episodes": 50,
"total_frames": 33307,
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"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
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},
"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/allenai/eval_xvla_candy_sorting_in-distribution.eval_openvla_candy_sorting_in-distributionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"robot_type": "bi_yam_follower",
"total_episodes": 50,
"total_frames": 89295,
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"data_files_size_in_mb": 100,
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"fps": 30,
"splits": {
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"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/allenai/eval_openvla_candy_sorting_in-distribution.abc_sim_lego_blocks_sortingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
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"shape": [
14
]
},
"action": {
"dtype": "float32",
"shape": [
14
]
},
"observation.images.top": {
"dtype": "video",
"shape":… See the full description on the dataset page: https://huggingface.co/datasets/ssdunit/abc_sim_lego_blocks_sorting.eval_cosmos_candy_sorting_in-distributionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"robot_type": "bi_yam_follower",
"total_episodes": 53,
"total_frames": 89732,
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"fps": 30,
"splits": {
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"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/allenai/eval_cosmos_candy_sorting_in-distribution.eval_pi05_candy_sorting_in-distributionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"robot_type": "bi_yam_follower",
"total_episodes": 50,
"total_frames": 33406,
"total_tasks": 1,
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"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:50"
},
"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/allenai/eval_pi05_candy_sorting_in-distribution.object-sorting-cross-embodiment-rich-modality-sample
Cross-Embodiment Object Sorting — Rich-Modality 20-Episode Inspection Sample
20 episodes total: 10 Franka Panda + 10 WidowXAI. A compact cross-embodiment inspection release for picking up an instructed object and placing it into an instructed target box. Each robot keeps its native LeRobot v2.1 state/action schema in a separate Viewer config. Five synchronized RGB views, metric depth and instance segmentation for every camera, robot state/action, end-effector trajectories… See the full description on the dataset page: https://huggingface.co/datasets/ExylosAi/object-sorting-cross-embodiment-rich-modality-sample.loreal_returns_sorting_0831This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"codebase_version": "v3.0",
"robot_type": "dobot_nova5_dh",
"total_episodes": 145,
"total_frames": 209887,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:145"
},
"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/Xense/loreal_returns_sorting_0831.dk1_duplo_sorting_by_size_2026-04-05This dataset was created using LeRobot.
Dataset Description
Bimanual Lego Duplo sorting by size
Robot: TRLC DK1 bimanual (bi_dk1_follower) — 2× 6-DOF arms with grippers
Task: sort duplo bricks by size, large to the right and small to the left
Episodes: 51
Total frames: 60,393 (33.6 min @ 30 fps)
Avg episode length: 39.5s
License: apache-2.0
Cameras
Camera
Resolution
Codec
FPS
observation.images.head
640x360
h264
30
observation.images.left_wrist… See the full description on the dataset page: https://huggingface.co/datasets/andreaskoepf/dk1_duplo_sorting_by_size_2026-04-05.eval_cosmos_candy_sorting_in-distributionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"codebase_version": "v3.0",
"robot_type": "bi_yam_follower",
"total_episodes": 53,
"total_frames": 89732,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:53"
},
"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/Jiafei1224/eval_cosmos_candy_sorting_in-distribution.xtac-umi-g1-parts-sorting
Representative frames from TacVerse's bimanual
demonstrations.
Collected with XTac-UMI-G1 grippers, released as LeRobot
datasets.
This dataset was created using LeRobot.
Explore this dataset with the LeRobot Dataset Viewer.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "xtac_umi_g1",
"total_episodes": 10,
"total_frames": 24650,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100… See the full description on the dataset page: https://huggingface.co/datasets/TacVerse/xtac-umi-g1-parts-sorting.aloha_mobile_socks_sortingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "mobile_aloha",
"total_episodes": 100,
"total_frames": 100000,
"total_tasks": 1,
"total_videos": 0,
"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/yqiu777/aloha_mobile_socks_sorting.eval_pi05_candy_sorting_in-distributionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"robot_type": "bi_yam_follower",
"total_episodes": 50,
"total_frames": 33406,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:50"
},
"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/Jiafei1224/eval_pi05_candy_sorting_in-distribution.eval_xvla_candy_sorting_in-distributionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"robot_type": "bi_yam_follower",
"total_episodes": 50,
"total_frames": 33307,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:50"
},
"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/Jiafei1224/eval_xvla_candy_sorting_in-distribution.so101-sorting-v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"codebase_version": "v3.0",
"robot_type": "so_follower",
"total_episodes": 100,
"total_frames": 35763,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:100"
},
"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/Renegade-888/so101-sorting-v2.loreal_returns_sorting_0722This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"codebase_version": "v3.0",
"robot_type": "bi_dobot_nova5_dh",
"total_episodes": 326,
"total_frames": 574841,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:326"
},
"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/Xense/loreal_returns_sorting_0722.shape-sorting-so101_split_testThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"Rotation",
"Pitch",
"Elbow",
"Wrist_Pitch",
"Wrist_Roll",
"Jaw"
]
}… See the full description on the dataset page: https://huggingface.co/datasets/Artefacts/shape-sorting-so101_split_test.eval_openvla_candy_sorting_in-distributionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"robot_type": "bi_yam_follower",
"total_episodes": 50,
"total_frames": 89295,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
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"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/Jiafei1224/eval_openvla_candy_sorting_in-distribution.eval_molmoact_candy_sorting_in-distributionThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"robot_type": "bi_yam_follower",
"total_episodes": 50,
"total_frames": 59645,
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"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:50"
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"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/Jiafei1224/eval_molmoact_candy_sorting_in-distribution.loreal_returns_sorting_0928eval_molmoact_candy_sorting_oodThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"codebase_version": "v3.0",
"robot_type": "bi_yam_follower",
"total_episodes": 25,
"total_frames": 29901,
"total_tasks": 3,
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"data_files_size_in_mb": 100,
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"fps": 30,
"splits": {
"train": "0:25"
},
"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/allenai/eval_molmoact_candy_sorting_ood.industrial_screws_sorting_anomalyThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 10,
"total_frames": 14926,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:10"
},
"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/kantine/industrial_screws_sorting_anomaly.eval_pi05_candy_sorting_oodThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
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"robot_type": "bi_yam_follower",
"total_episodes": 24,
"total_frames": 15757,
"total_tasks": 4,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:24"
},
"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/allenai/eval_pi05_candy_sorting_ood.3-color-block-sortingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
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"robot_type": "kinova3",
"total_episodes": 50,
"total_frames": 46133,
"total_tasks": 6,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:50"
},
"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",
"features":… See the full description on the dataset page: https://huggingface.co/datasets/tduggan93/3-color-block-sorting.