Search is not available for this dataset
observation.state listlengths 86 86 | observation.eef_wrench listlengths 24 24 | observation.eef_state listlengths 28 28 | observation.robots_state listlengths 14 14 | observation.camera_pose listlengths 21 21 | observation.object_state listlengths 7 7 | observation.grasp_latched listlengths 4 4 | action listlengths 86 86 | action.eef listlengths 28 28 | teleop.navigate_command listlengths 6 6 | teleop.base_height_command listlengths 2 2 | timestamp float64 0 28.7 | frame_index int64 0 1.44k | episode_index int64 0 49 | index int64 0 54.7k | task_index int64 0 0 | annotation.human.task_description int64 0 0 | annotation.human.task_description_robot_a int64 1 1 | annotation.human.task_description_robot_b int64 2 2 | next.done bool 2
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End of preview. Expand in Data Studio
CoHuB — 2-agent humanoid collaboration (Unitree G1 × 2)
8 two-robot tasks, 480 teleoperated demonstrations (231,834 frames at 50 fps), each task a
LeRobot v2.1 dataset in its own folder with a fixed train 50 / val 10 split. Two operators in Meta Quest 3
headsets drive one robot each, across a federated two-process Isaac Sim link. Every episode ships three camera
views -- an ego view per robot plus a fixed scene camera -- as five video streams, the two ego views carrying
depth alongside RGB. Every task's own card (<task>/README.md) is generated from its export and carries the
feature layout, the lens, and the provenance of the run that recorded it.
| Task | Folder | Episodes | Frames | Video streams | Size |
|---|---|---|---|---|---|
| Handover | handover/ |
60 | 19,468 | 5 | 0.78 GB |
| Pouring | pouring/ |
60 | 16,216 | 5 | 0.64 GB |
| FrameHang | framehang/ |
60 | 16,101 | 5 | 0.69 GB |
| CoCarry | cocarry/ |
60 | 32,785 | 5 | 1.58 GB |
| TableAlign | tablealign/ |
60 | 50,306 | 5 | 2.42 GB |
| TrashCollection | trashcollection/ |
60 | 23,220 | 5 | 1.15 GB |
| CoPouring | copouring/ |
60 | 8,977 | 5 | 0.53 GB |
| CartService | cartservice/ |
60 | 64,761 | 5 | 2.84 GB |
Loading one task
hf download meat000124/CoHuB-2-agents --repo-type dataset --include "cocarry/*" --local-dir CoHuB
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("meat000124/CoHuB-2-agents", root="CoHuB/cocarry")
Each folder is a complete, self-contained LeRobot v2.1 dataset (meta/, data/, videos/); the configs
above expose each one to the Hub viewer as its own configuration with train and val splits.
Versions
- 2026-09-11, second upload -- CoCarry and TableAlign RGB videos re-rendered with the scene textures, which the first 09-11 upload had rendered untextured. Parquet data, depth videos and task cards are unchanged.
- 2026-09-11 -- CoCarry, CoPouring and TableAlign replaced: their task definitions were revised and all 60 episodes of each were re-collected and re-rendered. The other five tasks are unchanged.
- 2026-09-10 -- first release, all eight tasks as first collected. Still available at revision
70e607a9e584781fc30829b1cff568b28da010be(hf download ... --revision 70e607a9e584781fc30829b1cff568b28da010be).
License
Apache-2.0, as in each task card.
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