README.md

---
license: apache-2.0
tags:
- robotics
- community
- so100
- so101
- manipulation
- smolvla
- lerobot community
- vision-language-action
- embodied-ai
- cross-embodiment
task_categories:
- robotics
language:
- en
size_categories:
- 10M<n<100M
pretty_name: Community Dataset v3
---

# Community Dataset v3 - A Cross-Embodiment Pretraining Dataset

A large-scale robotics dataset for vision-language-action learning, featuring **791 datasets** across **46 robot types**, enabling cross-embodiment pretraining for generalist robot policies.

![Community Dataset v3](./comm_v3.png)

## Overview

This is a **crowdsourced, open-source dataset** compiled from **235 community contributors** worldwide. Building upon the pretraining datasets used for [SmolVLA](https://huggingface.co/blog/smolvla), [Community Datasets v1](https://huggingface.co/datasets/HuggingFaceVLA/community_dataset_v1) and [v2](https://huggingface.co/datasets/HuggingFaceVLA/community_dataset_v2), this cleaned and organized version opens the door for **cross-embodiment training** on another completely new batch of community-contributed data.

The dataset spans **46+ robot embodiments** including single-arm, bimanual, mobile manipulation, and a few humanoid robots. All data was collected using the [LeRobot](https://github.com/huggingface/lerobot) framework and is compatible with the [VLAb](https://github.com/huggingface/VLAb) pretraining framework.


## 📊 Dataset Statistics

| Metric | Value |
|--------|-------|
| **Total Datasets** | 791 |
| **Total Episodes** | 50,622 |
| **Total Frames** | 25,971,082 |
| **Total Duration** | 240.47 hours (10.02 days) |
| **Contributors** | 235 |
| **Robot Types** | 46 different embodiments |
| **Action Dimensions** | 12 different configurations |
| **Average Hours/Dataset** | 0.30 |

## 🤖 Robot Type Distribution

### By Category
- **Single-arm manipulators**: 72% (571 datasets)
- **Bimanual systems**: 12% (95 datasets)
- **Mobile manipulation**: 8% (63 datasets)
- **Humanoid platforms**: 1% (8 datasets)
- **Other configurations**: 7% (54 datasets)

### Top 10 Robot Types

| Robot Type | Datasets | % | Category |
|------------|----------|---|----------|
| **so100** | 248 | 31.4% | Single-arm |
| **so101_follower** | 124 | 15.7% | Single-arm |
| **so100_follower** | 121 | 15.3% | Single-arm |
| **so101** | 82 | 10.4% | Single-arm |
| **arx5** | 43 | 5.4% | Single-arm |
| **koch** | 38 | 4.8% | Single-arm |
| **trossen_ai_mobile** | 25 | 3.2% | Mobile |
| **bi_xarm6_follower** | 16 | 2.0% | Bimanual |
| **so100_bimanual** | 12 | 1.5% | Bimanual |
| **koch_follower** | 8 | 1.0% | Single-arm |

![Screenshot 2025-12-09 at 17.50.51](https://cdn-uploads.huggingface.co/production/uploads/640e21ef3c82bd463ee5a76d/uVr2KrVm2crT7evSFCaEA.png)

## 🗂️ Dataset Structure

```
community_dataset_v3_clean/
├── contributor1/
│   ├── dataset_name_1/
│   │   ├── data/           # Parquet files with observations
│   │   │   ├── episode_000000.parquet
│   │   │   ├── episode_000001.parquet
│   │   │   └── ...
│   │   ├── videos/         # MP4 recordings (multi-view)
│   │   │   ├── episode_000000_image.mp4
│   │   │   └── ...
│   │   └── meta/           # Metadata
│   │       └── info.json
│   └── dataset_name_2/
├── contributor2/
└── ...
```

## 🚀 Usage

**1. Authenticate with Hugging Face**

You need to be logged in to access the dataset:

```bash
# Login to Hugging Face
huggingface-cli login

# Or alternatively, set your token as an environment variable
# export HF_TOKEN=your_token_here
```

Get your token from [https://huggingface.co/settings/tokens](https://huggingface.co/settings/tokens)

### Download the Dataset

```python
hf download HuggingFaceVLA/community_dataset_v1 \
       --repo-type=dataset \
       --local-dir /path/local_dir/community_dataset_v1
```

### Load Individual Datasets

```python
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
import os

# Browse available datasets
for contributor in os.listdir("./community_dataset_v3_clean"):
    contributor_path = f"./community_dataset_v3_clean/{contributor}"
    if os.path.isdir(contributor_path):
        for dataset in os.listdir(contributor_path):
            print(f"📁 {contributor}/{dataset}")

# Load a specific dataset
dataset = LeRobotDataset(
    repo_id="local",
    root="./community_dataset_v3/contributor_name/dataset_name"
)

# Access data
print(f"Episodes: {len(dataset.episode_data_index)}")
print(f"Total frames: {len(dataset)}")
```

### Train with VLAb

This dataset is designed for cross-embodiment VLA training using [VLAb](https://github.com/huggingface/VLAb):

```bash
accelerate launch --config_file accelerate_configs/multi_gpu.yaml \
    src/lerobot/scripts/train.py \
    --policy.type=smolvla2 \
    --policy.repo_id=HuggingFaceTB/SmolVLM2-500M-Video-Instruct \
    --dataset.repo_id="community_dataset_v3/contributor1/dataset1,community_dataset_v3/contributor2/dataset2" \
    --dataset.root="./community_dataset_v3" \
    --dataset.video_backend=pyav \
    --dataset.features_version=2 \
    --output_dir="./outputs/training" \
    --batch_size=8 \
    --steps=200000 \
    --wandb.enable=true \
    --wandb.project="smolvla2-cross-embodiment"
```

## 🔧 Training Challenges with Cross-Embodiment Data

### The Reality of Community-Contributed Data

This dataset includes 791 datasets recorded by community members under different conditions worldwide, creating an authentic in-the-wild setup. While this diversity is valuable for cross-embodiment learning, it comes with real challenges: varying data quality, inconsistent recording setups, and heterogeneous robot configurations. Using these datasets out-of-the-box will likely result in random collate errors and warnings during training.

### What We Encountered During Data Cleaning

Starting with 851 datasets, we systematically debugged and cleaned the collection. Here's what we found:

#### Missing Video Files (Primary Removal Reason)
Some datasets had incomplete episode recordings where video files were missing:
```
ERROR Failed to load video for key 'observation.images.image' at episode X: 
[Errno 2] No such file or directory: '/path/to/episode_XXXXXX.mp4'
```
**Impact:** Training crashes when these episodes were sampled  
**Action:** Removed ~15-20 datasets with missing files

#### Data Type Incompatibilities
Certain datasets returned inconsistent data types during batch formation:
```
RuntimeError: Could not infer dtype of dict
AttributeError: 'list' object has no attribute 'device'
```
**Impact:** Random crashes during forward pass  
**Action:** Removed ~10-15 problematic datasets, implemented resilient batch collation

#### Multi-Camera Configuration Issues
Different datasets had varying numbers of camera views, causing tensor shape mismatches:

**Root cause:** The `max_num_images` parameter wasn't properly propagated in the codebase, leading to inconsistent image tensor shapes when datasets had different numbers of cameras (some had 2, others had 4+ views).

**Impact:** Thousands of dimension/channel erros for the datasets with more than 3 images. 
**Action:** Set `config.max_num_images = 3` to standardize input. This number balances multi-view information (essential for spatial reasoning) while being compatible with most datasets in the collection - the majority of community datasets use 2-3 camera views for manipulation tasks.

#### Video Timing Misalignments
Frame timestamps occasionally violated tolerance thresholds:
```
Some query timestamps violate tolerance (tensor([2.0667]) > tolerance_s=0.0001)
```
**Impact:** Minor temporal inconsistency, but training continued  
**Action:** Automatic fallback to closest frames

#### Final Dataset Cleaning Results
- **Original datasets:** 851
- **Datasets with missing files:** ~15-20 (removed)
- **Datasets with data type issues:** ~10-15 (removed)
- **Datasets with conversion failures:** 16 (fixed and reprocessed)
- **Datasets with different FPS values:** Many datasets remain valid but have varying frame rates (some recorded at different fps than the standard 30fps)
- **Final clean dataset:** 791 datasets

## 🎯 Intended Use

This dataset enables:

- **Cross-embodiment VLA training** - Learn policies that generalize across robot types
- **Multi-task manipulation** - Pick & place, sorting, assembly, bimanual tasks
- **Transfer learning** - Leverage diverse demonstrations for new robots
- **Imitation learning research** - Large-scale behavior cloning
- **Generalist robot policies** - Train models that work on multiple platforms
- **Mobile manipulation** - Navigation + manipulation tasks
- **Embodied AI research** - Vision-motor coordination


## 🏆 Top Contributors

| Contributor | Datasets | % |
|-------------|----------|---|
| **shuohsuan** | 57 | 7.2% |
| **villekuosmanen** | 47 | 5.9% |
| **LeRobot-worldwide-hackathon** | 31 | 3.9% |
| **lt-s** | 27 | 3.4% |
| **Qipei** | 23 | 2.9% |
| **bjb7** | 18 | 2.3% |
| **kumarhans** | 18 | 2.3% |
| **Ryosei2** | 17 | 2.1% |
| **kyomangold** | 16 | 2.0% |
| **psg777** | 16 | 2.0% |
| Others (225) | 521 | 65.9% |

## 🤝 Contributing

Future contributions should follow:
- LeRobot dataset format (v2.1+)
- Consistent naming for features and camera views
- Quality validation checks
- Precise task descriptions
- Robot type and action space metadata

See the [LeRobot dataset guide](https://huggingface.co/blog/lerobot-datasets) for best practices.

Please acknowledge all individual contributors who created the original datasets.

## 📄 License

Released under **Apache 2.0 license**. Individual datasets may have additional attribution requirements.

When using this dataset:
- ✅ Cite the dataset and VLAb framework
- ✅ Acknowledge community contributors
- ✅ Follow Apache 2.0 license terms
- ✅ Consider contributing your own data

## 🔗 Related Resources

- [VLAb Framework](https://github.com/huggingface/VLAb) - Large-scale pre-training
- [SmolVLA Model](https://huggingface.co/lerobot/smolvla_base) - Pre-trained VLA
- [SmolVLA Blog](https://huggingface.co/blog/smolvla) - Introduction and tutorials
- [SmolVLA Paper](https://huggingface.co/papers/2506.01844) - Technical details
- [LeRobot Docs](https://huggingface.co/docs/lerobot) - Complete documentation
- [Dataset Guide](https://huggingface.co/blog/lerobot-datasets) - Best practices
- [Community Dataset v2](https://huggingface.co/datasets/HuggingFaceVLA/community_dataset_v2) - Previous Dataset
- [Community Dataset v1](https://huggingface.co/datasets/HuggingFaceVLA/community_dataset_v1) - First release


*Built with ❤️ by the LeRobot Community and SmolVLA Team*