Geppetto tracks 40 robot training datasets including Open X-Embodiment, DROID, and AgiBot World, each with structured metadata on trajectory count, hours of demonstration, robot platforms, license, commercial use, access model, and file format. Every dataset connects to the robots it trains and the professions it affects.
| Dataset | Year | Category | Trajectories | Hours | Platforms | License | Commercial | Access | Format |
|---|---|---|---|---|---|---|---|---|---|
| GR1 Robot Teleoperation Dataset | 2026 | real-robot | — | — | Fourier GR-1, Fourier GR-1T1 | MIT | Yes | open | hdf5, mp4 |
| Humanity's Last Machine — Humanoid Robot Supplier Database | 2026 | supply-chain-intelligence | — | — | — | All rights reserved — data sourced from public stock exchange filings and company announcements. Attribution required. | No | open | csv |
| GrandTour — Legged Robot Dataset in the Wild | 2026 | real-robot | — | — | ANYbotics ANYmal-D | MIT — confirm in repository LICENSE file before activation | Yes | gated | rosbag |
| PalmDex — Embodiment-Agnostic Tactile Manipulation Dataset | 2026 | real-robot | — | — | human hands, dexterous robot hands | CC BY-SA 4.0 | Yes | open | mp4, hdf5, json |
| OmniAction — Multimodal Proactive Robot Manipulation Dataset | 2026 | real-robot | — | — | robot arms, humanoid arms | CC BY-NC 4.0 | No | open | mp4, parquet, json |
| PhysicalAI Robotics GR00T X-Embodiment Sim | 2026 | synthetic | — | — | Franka Panda, Isaac Lab robots, humanoid robots | CC BY 4.0 | Yes | open | parquet, zarr |
| Egocentric-100K — Manual Labor Egocentric Video Dataset | 2026 | human-video | — | 100,405 | human (head-mounted fisheye camera) | Apache 2.0 | Yes | gated | mp4, json |
| PhysicalAI Robotics Kitchen Manipulation Demos | 2026 | real-robot | — | 600 | Franka Panda, Omron mobile base | CC BY 4.0 | Yes | open | hdf5, parquet, mp4 |
| Xperience-10M — Large-Scale Egocentric Multimodal Human Experience Dataset | 2026 | human-video | — | 10,000 | human (wearable camera), egocentric rig | Apache 2.0 | Yes | gated | mp4, json, hdf5 |
| Galaxea Open-World Dataset — Mobile Manipulation | 2026 | real-robot | — | 500 | Galaxea R1 dual-arm mobile robot | CC BY-NC-SA 4.0 | No | open | mp4, parquet, json |
| SPARC (Spatial Annotations from Robot Demonstrations at Scale) | 2026 | research-lab | 1,700 | — | Franka, bimanual setups, 12 diverse embodiments | null | No | open | — |
| RoboReward — Vision-Language Reward Dataset for Robotics | 2026 | real-robot | — | — | Open X-Embodiment robots, RoboArena robots | CC BY 4.0 | Yes | open | mp4, parquet, json |
| AgiBot World 2026 | 2026 | real-robot | — | — | AgiBot G2 | CC BY-NC-SA 4.0 | No | gated | parquet, mp4, json |
| Egocentric-1M — The Internet for Physical AI | 2026 | human-video | — | 1,000,000 | human (head-mounted fisheye camera) | Apache 2.0 | Yes | gated | mp4, json, webdataset |
| AgiBot-Alpha — AgiBot World Dataset | 2025 | real-robot | — | 1,979 | AgiBot A2, AgiBot X1 | AgiBot World Open Academic License — commercial use with restrictions | Yes | open | zarr, mp4 |
| EgoVerse — Egocentric Robot Training Dataset: 8.5M Frames, 74 Countries | 2025 | real-robot | — | 1,213 | aria_bimanual, aria_left_arm, aria_right_arm | CC BY-SA 4.0 | Yes | open | zarr, lerobot, hdf5 |
| DexUMI — Dexterous Universal Manipulation Interface | 2025 | human-video | — | — | Inspire Hand | MIT — confirm in dataset directory before activation | Yes | open | zarr |
| DexWild — In-the-Wild Dexterous Manipulation Dataset | 2025 | human-video | — | — | 6 DoF dexterous hand | MIT | Yes | open | imagefolder, parquet |
| RealSource-World — Dual-Arm Humanoid Manipulation Dataset | 2025 | real-robot | — | — | RS-02 dual-arm humanoid | CC BY-NC-SA 4.0 — non-commercial use only | No | gated | parquet, mp4 |
| PhysicalAI Robotics GR00T Teleop G1 | 2025 | real-robot | — | — | Unitree G1 | CC BY 4.0 | Yes | open | parquet, hdf5, mp4 |
| Human2LocoMan — Loco-Manipulation Dataset | 2025 | real-robot | — | — | LocoMan | MIT | Yes | open | hdf5, mp4 |
| PHUMA — Physically-Grounded Humanoid Locomotion Dataset | 2025 | human-video | — | — | Unitree G1, Unitree H1_2 | Apache 2.0 | Yes | open | npy |
| LeRobot Community Datasets v3 | 2025 | real-robot | — | — | SO-100 arm, SO-101 arm, Franka Panda | Apache 2.0 | Yes | open | parquet, mp4, lerobot |
| AIRoA Mobile Manipulator Data Engine | 2025 | real-robot | — | 10,000 | Toyota Human Support Robot (HSR) | CC BY-NC-SA 4.0 | No | gated | — |
| DROID — A Large-Scale In-The-Wild Robot Manipulation Dataset | 2024 | real-robot | — | 350 | Franka Panda | Apache 2.0 | Yes | open | zarr, lerobot, hdf5 |
| Humanoid Atlas — Global OEM & Supplier Supply Chain Database | 2024 | supply-chain-intelligence | — | — | — | MIT | Yes | open | json, csv |
| Fourier ActionNet — Humanoid Manipulation Dataset | 2024 | real-robot | — | — | Fourier GR-2, Fourier GR-1 | Fourier Research License — non-commercial research use | No | gated | hdf5, lerobot |
| RoboCasa — Large-Scale Simulation for Everyday Household Tasks | 2024 | synthetic | — | — | Franka Panda (simulated) | MIT | Yes | open | json, mp4 |
| Claru — Training Data for Physical AI | 2024 | research-lab | — | — | robot arms, egocentric cameras, autonomous vehicles | Commercial — custom licensing per engagement | Yes | proprietary | mp4, json, parquet |
| RoboMIND — Multi-Embodiment Intelligence Normative Data | 2024 | real-robot | — | — | Franka Emika Panda, Tien Kung humanoid, AgileX Cobot Magic V2.0 | Apache 2.0 | Yes | open | hdf5, mp4, json |
| BridgeData V2 | 2023 | real-robot | — | — | WidowX 250s | MIT | Yes | open | hdf5, zarr, mp4 |
| ALOHA — Action Chunking with Transformers | 2023 | real-robot | — | — | ALOHA bimanual robot, ViperX 300s, WidowX 250s | MIT | Yes | open | hdf5, lerobot |
| RoboSet — A Diverse Multi-Task Robot Learning Dataset | 2023 | real-robot | — | — | Franka Panda | CC BY 4.0 | Yes | open | hdf5, lerobot |
| Open X-Embodiment — Robotic Learning Datasets | 2023 | real-robot | — | — | Franka Panda, Google RT-2, WidowX 250s | Apache 2.0 | Yes | open | zarr, tfrecord |
| PushT — Diffusion Policy Reference Dataset | 2023 | synthetic | — | — | simulated 2D pusher | Apache 2.0 | Yes | open | lerobot, parquet |
| LIBERO — Lifelong Learning for Robot Manipulation | 2023 | synthetic | — | — | Franka Panda (simulated) | MIT | Yes | open | hdf5, lerobot |
| Ego4D — Around the World in 3,025 Hours of Egocentric Video | 2022 | human-video | — | 3,025 | human (wearable camera) | Ego4D License — non-commercial research only | No | gated | mp4, json |
| CALVIN — Composing Actions from Language and Vision | 2021 | synthetic | — | — | Franka Panda (simulated) | MIT | Yes | open | npz, pkl |
| RoboMimic — A Study of Imitation Learning from Observations | 2021 | real-robot | — | — | Franka Panda, Sawyer | MIT | Yes | open | hdf5 |
| Meta-World — Multi-Task and Meta-Reinforcement Learning | 2019 | synthetic | — | — | Sawyer (simulated) | MIT | Yes | open | json, pkl |