Dataset Registry

Curated robotics datasets for training, evaluation, and research

23
Datasets
7
Demo-Ready
3.6M
Total Episodes
5
Formats
12
Robots
23 datasets
Open X-Embodiment open_x_embodiment
Aggregate dataset spanning 60+ constituent datasets, 22 robot platforms, and 527 manipulation skills. The largest open robotics dataset collection.
rlds google_robotfrankawidowxjacosawyerur5kuka large
2,400,000 episodes Apache-2.0
Paper
arXiv:2310.08864
Tags
manipulationreal worldmulti tasklarge scalelanguage conditioned
Task Types
pick placepushpourwipedrawermulti task
Sources
gcs gs://gresearch/robotics Each constituent dataset is a separate RLDS dataset under this bucket
hf_hub jxu124/OpenX-Embodiment
Forge Commands
forge inspect open_x_embodiment
forge quality open_x_embodiment
forge convert open_x_embodiment ./output --format lerobot-v3
DROID droid
Large-scale in-the-wild manipulation dataset with 76K+ episodes across 564 scenes and 52 buildings. Multi-camera Franka teleoperation.
rlds franka large
76,000 episodes 350h CC-BY-4.0
Paper
arXiv:2403.12945
Tags
manipulationreal worldmulti tasklarge scale
Task Types
pick placepushwipedrawermulti task
Sources
gcs gs://gresearch/robotics/droid RLDS format
hf_hub cadene/droid Full dataset in LeRobot format (~400GB)
Forge Commands
forge inspect droid
forge quality droid
forge convert droid ./output --format lerobot-v3
Bridge V2 bridge_v2
Large-scale WidowX tabletop manipulation dataset with 53K+ episodes across 24 environments and 13 skills.
rlds widowx large
53,192 episodes 105h MIT
Paper
arXiv:2308.12952
Tags
manipulationreal worldmulti tasklarge scale
Task Types
pick placepushwipedrawer
Sources
gcs gs://gresearch/robotics/bridge/0.1.0 RLDS format
hf_hub IPEC-COMMUNITY/bridge_orig_lerobot LeRobot format conversion
Forge Commands
forge inspect bridge_v2
forge quality bridge_v2
forge convert bridge_v2 ./output --format lerobot-v3
RoboSet roboset
Franka multi-task dataset with 12 skills across 38 kitchen tasks. Includes teleoperated, kinesthetic, and heuristic demonstrations.
rlds franka large
100,000 episodes MIT
Paper
arXiv:2309.01918
Tags
manipulationreal worldmulti task
Task Types
pick placepourwipemulti task
Sources
gcs gs://gresearch/robotics/robo_set RLDS format via TFDS
hf_hub jdvakil/RoboSet-Teleoperation Teleoperation subset only
Forge Commands
forge inspect roboset
forge quality roboset
forge convert roboset ./output --format lerobot-v3
ALOHA Sim Transfer Cube aloha_sim_transfer_cube
Simulated bimanual cube transfer task with 50 human-collected episodes. Ideal for quick ALOHA experiments.
lerobot aloha demo
50 episodes MIT
Paper
arXiv:2304.13705
Tags
manipulationbi manualsimulationsingle task
Task Types
pick place
Sources
hf_hub lerobot/aloha_sim_transfer_cube_human demo subset
Forge Commands
forge inspect aloha_sim_transfer_cube
forge quality aloha_sim_transfer_cube
forge convert aloha_sim_transfer_cube ./output --format lerobot-v3
forge inspect aloha_sim_transfer_cube --demo
ALOHA Sim Insertion aloha_sim_insertion
Simulated bimanual peg insertion task with 50 human-collected episodes.
lerobot aloha demo
50 episodes MIT
Paper
arXiv:2304.13705
Tags
manipulationbi manualsimulationsingle task
Task Types
insertion
Sources
hf_hub lerobot/aloha_sim_insertion_human demo subset
Forge Commands
forge inspect aloha_sim_insertion
forge quality aloha_sim_insertion
forge convert aloha_sim_insertion ./output --format lerobot-v3
forge inspect aloha_sim_insertion --demo
ALOHA Static Tape aloha_static_tape
Real bimanual tape dispensing task with 50 teleoperated episodes on static ALOHA.
lerobot aloha demo
50 episodes MIT
Paper
arXiv:2304.13705
Tags
manipulationbi manualreal worldsingle task
Task Types
manipulation
Sources
hf_hub lerobot/aloha_static_tape demo subset
Forge Commands
forge inspect aloha_static_tape
forge quality aloha_static_tape
forge convert aloha_static_tape ./output --format lerobot-v3
forge inspect aloha_static_tape --demo
ALOHA Mobile Cabinet aloha_mobile_cabinet
Real mobile bimanual cabinet manipulation with 85 episodes on Mobile ALOHA.
lerobot aloha demo
85 episodes MIT
Paper
arXiv:2401.02117
Tags
manipulationbi manualmobile manipulationreal worldsingle task
Task Types
drawermanipulation
Sources
hf_hub lerobot/aloha_mobile_cabinet demo subset
Forge Commands
forge inspect aloha_mobile_cabinet
forge quality aloha_mobile_cabinet
forge convert aloha_mobile_cabinet ./output --format lerobot-v3
forge inspect aloha_mobile_cabinet --demo
AgiBot World Alpha agibot_world_alpha
Large-scale dual-arm humanoid manipulation dataset with 92K+ trajectories across 217 tasks and 87 skills.
lerobot-v2 agibot_g1 large
92,214 episodes 2976h CC-BY-NC-SA-4.0
Paper
arXiv:2503.06669
Tags
manipulationbi manualhumanoidreal worldmulti tasklarge scale
Task Types
pick placepourmulti task
Sources
hf_hub agibot-world/AgiBotWorld-Alpha
Forge Commands
forge inspect agibot_world_alpha
forge quality agibot_world_alpha
forge convert agibot_world_alpha ./output --format lerobot-v3
RT-1 / Fractal rt1_fractal
Google Robot tabletop manipulation dataset with 87K+ episodes, used to train RT-1. 17 object categories.
rlds google_robot large
87,212 episodes Apache-2.0
Paper
arXiv:2212.06817
Tags
manipulationreal worldmulti tasklarge scale
Task Types
pick placepush
Sources
gcs gs://gresearch/robotics/fractal20220817_data/0.1.0
Forge Commands
forge inspect rt1_fractal
forge quality rt1_fractal
forge convert rt1_fractal ./output --format lerobot-v3
RH20T rh20t
Contact-rich manipulation dataset with 110K+ episodes across 4 robots and 147 skills. Includes force/torque and audio.
other frankaur5kukaflexiv large
110,000 episodes Research use
Paper
arXiv:2307.00595
Tags
manipulationcontact richreal worldmulti tasklarge scale
Task Types
pick placemanipulationmulti task
Sources
hf_hub fredfang/RH20T
Forge Commands
forge inspect rh20t
forge quality rh20t
forge convert rh20t ./output --format lerobot-v3
LIBERO libero
Simulated continual learning benchmark with 130 tasks across 4 suites (Spatial, Object, Goal, LIBERO-10).
hdf5 franka
4,500 episodes 10h CC-BY-4.0
Paper
arXiv:2306.03310
Tags
manipulationsimulationmulti task
Task Types
pick placedrawermulti task
Sources
hf_hub physical-intelligence/libero
Forge Commands
forge inspect libero
forge quality libero
forge convert libero ./output --format lerobot-v3
FurnitureBench furniturebench
Long-horizon furniture assembly benchmark with 5K+ episodes across 8 assembly tasks at 3 difficulty levels.
other franka
5,000 episodes 200h Research use
Paper
arXiv:2305.12821
Tags
manipulationreal worldmulti task
Task Types
assembly
Sources
http https://furniturebench.github.io/ Download links on project page (Google Drive)
Forge Commands
forge inspect furniturebench
forge quality furniturebench
forge convert furniturebench ./output --format lerobot-v3
RLBench rlbench
Simulated benchmark with 100 manipulation tasks in CoppeliaSim. Procedurally generated demonstrations.
other franka
10,000 episodes Research use
Paper
arXiv:1909.12271
Tags
manipulationsimulationmulti task
Task Types
pick placepushdrawermulti task
Sources
hf_hub hqfang/rlbench-18-tasks Community upload of 18-task subset
Forge Commands
forge inspect rlbench
forge quality rlbench
forge convert rlbench ./output --format lerobot-v3
MetaWorld metaworld
Simulated Sawyer benchmark with 50 tabletop manipulation tasks for meta/multi-task learning.
lerobot sawyer large
50,000 episodes MIT
Paper
arXiv:1910.10897
Tags
manipulationsimulationmulti task
Task Types
pick placepushdrawerassemblymulti task
Sources
hf_hub lerobot/metaworld_mt50
Forge Commands
forge inspect metaworld
forge quality metaworld
forge convert metaworld ./output --format lerobot-v3
Language Table language_table
Language-conditioned block pushing with 600K+ real episodes and open-vocabulary instructions.
rlds xarm large
600,000 episodes 2700h Apache-2.0
Paper
arXiv:2210.06407
Tags
manipulationreal worldlanguage conditionedlarge scalesingle task
Task Types
push
Sources
gcs gs://gresearch/robotics/language_table
Forge Commands
forge inspect language_table
forge quality language_table
forge convert language_table ./output --format lerobot-v3
BC-Z bc_z
Language-conditioned WidowX manipulation with 26K episodes across 100 tasks for zero-shot generalization.
rlds widowx
25,877 episodes Apache-2.0
Paper
arXiv:2202.02005
Tags
manipulationreal worldlanguage conditionedmulti task
Task Types
pick placepushmulti task
Sources
gcs gs://gresearch/robotics/bc_z
Forge Commands
forge inspect bc_z
forge quality bc_z
forge convert bc_z ./output --format lerobot-v3
Jaco Play jaco_play
Teleoperated play data on Kinova Jaco 2 with language annotations. 1K+ tabletop manipulation episodes.
rlds jaco
1,085 episodes 3h Apache-2.0
Paper
arXiv:2310.08864
Tags
manipulationreal worldlanguage conditionedsingle task
Task Types
manipulation
Sources
gcs gs://gresearch/robotics/jaco_play
hf_hub lerobot/jaco_play
Forge Commands
forge inspect jaco_play
forge quality jaco_play
forge convert jaco_play ./output --format lerobot-v3
TACO Play taco_play
Task-agnostic Franka play data with language annotations. 3.6K episodes of tabletop manipulation.
rlds franka
3,600 episodes 7h CC-BY-4.0
Paper
arXiv:2209.08959
Tags
manipulationreal worldlanguage conditionedmulti task
Task Types
manipulationmulti task
Sources
gcs gs://gresearch/robotics/taco_play
hf_hub lerobot/taco_play
Forge Commands
forge inspect taco_play
forge quality taco_play
forge convert taco_play ./output --format lerobot-v3
Stanford Hydra stanford_hydra
Multi-arm manipulation dataset from Stanford ILIAD lab, converted to RLDS format.
rlds franka
Research use
Tags
manipulationreal world
Task Types
manipulation
Sources
gcs gs://gresearch/robotics/stanford_hydra_dataset_converted_externally_to_rlds
Forge Commands
forge inspect stanford_hydra
forge quality stanford_hydra
forge convert stanford_hydra ./output --format lerobot-v3
PushT pusht
Simple 2D T-block pushing task with 206 episodes. The canonical LeRobot demo dataset.
lerobot simulated demo
206 episodes MIT
Tags
manipulationsimulationsingle task
Task Types
push
Sources
hf_hub lerobot/pusht demo subset
Forge Commands
forge inspect pusht
forge quality pusht
forge convert pusht ./output --format lerobot-v3
forge inspect pusht --demo
Notes
206 episodes — slightly above 100 but universally used as a tiny demo dataset
DROID 100 droid_100
100-episode subset of DROID in LeRobot format. Ideal for quick experiments and CI.
lerobot franka demo
100 episodes CC-BY-4.0
Paper
arXiv:2403.12945
Tags
manipulationreal worldmulti task
Task Types
pick placemanipulation
Sources
hf_hub lerobot/droid_100 demo subset
Forge Commands
forge inspect droid_100
forge quality droid_100
forge convert droid_100 ./output --format lerobot-v3
forge inspect droid_100 --demo
ALOHA Static Coffee aloha_static_coffee
Real bimanual coffee preparation task with 50 teleoperated episodes on static ALOHA.
lerobot aloha demo
50 episodes MIT
Paper
arXiv:2304.13705
Tags
manipulationbi manualreal worldsingle task
Task Types
manipulation
Sources
hf_hub lerobot/aloha_static_coffee demo subset
Forge Commands
forge inspect aloha_static_coffee
forge quality aloha_static_coffee
forge convert aloha_static_coffee ./output --format lerobot-v3
forge inspect aloha_static_coffee --demo
Generated by Forge — the normalization layer for robotics data