LeBoard：为 LeRobot 数据集提供质量指标

abc 130k v3 trainlerobot/abc_130k_v3_train yam_bimanual68651e49 129,225 3,541 1.1B <0.1%<0.1% missing<0.1%<0.1%000droid 1.0.1lerobot/droid_1.0.1 Franka0eabc778 95,658 512 82.9M <0.1%<0.1% missing3.0%0.4%001,177*1.2%382 unassessedrobocasa target human unifiedlerobot/robocasa_target_human_unified robocasaa1c7cba1 25,307 208 44.9M 02.4%<0.1%0.1%00full foldinglerobot/full_folding openarms_follower6ae73269 5,688 131 42.4M <0.1%<0.1% missing1.3%2.3%0.3%01<0.1%BridgeData2nvidia/BridgeData2_LeRobot_v3 unknownb96f7216 50,415 100 7.2M 047.0% missing0.5%0002*<0.1%9 unassessedvlabench unifiedlerobot/vlabench_unified frankaf61ad898 10,977 87 9.3M <0.1%<0.1%0<0.1%00RoboTwin Unifiedlerobot/robotwin_unified aloha12878718 27,500 56 18.2M 03.2%<0.1%000abc 130k v3 vallerobot/abc_130k_v3_val yam_bimanual46ca817c 1,592 47 15.2M 0<0.1%<0.1%000xvla-soft-foldlerobot/xvla-soft-fold frankad4d21992 1,542 40 8.6M 01.0%0000libero pluslerobot/libero_plus pandaf3f49f42 14,347 31 4.5M 011.8%0.2%<0.1%00High Quality Foldinglerobot/high_quality_folding openarms_followerc9eb858d 1,200 30 9.8M <0.1%0.3%0.4%0.2%00cmu play fusionlerobot/cmu_play_fusion unknown7e71e26a 576 13 235.9k 000000stanford hydra datasetlerobot/stanford_hydra_dataset unknownff063837 570 10.0 716.5k <0.1%2.8%<0.1%0.6%–*0 / 1,140 assessed0fmblerobot/fmb unknown76c86f11 1,804 9.4 1.4M 000000robocerebra unifiedlerobot/robocerebra_unified franka279f0bca 6,660 7.9 1.1M 0<0.1%0000*204 unassessedLIBEROlerobot/libero pandaa1aaacb7 1,693 7.6 546.9k 01.8%0000stanford robocooklerobot/stanford_robocook unknown49337d01 2,460 6.3 451.9k 0000–*0 / 9,840 assessed0berkeley autolab ur5lerobot/berkeley_autolab_ur5 unknownc4e26a69 1,000 5.4 293.8k 02.3%000*1,000 / 3,000 assessed0roboturklerobot/roboturk unknownd38c9190 1,995 5.2 187.5k 01.5%0001*0.1%52 unassessedutaustin mutexlerobot/utaustin_mutex unknowna880eaee 1,500 5.0 723.8k 07.0%<0.1%00*1,500 / 3,000 assessed0austin sailor datasetlerobot/austin_sailor_dataset unknown50985d8a 240 4.9 706.2k 05.2%000*240 / 480 assessed0libero 10 subtasklerobot/libero_10_subtask libero_panda66a4f67d 500 3.8 276.2k 01.7%0000ucsd pick and place datasetlerobot/ucsd_pick_and_place_dataset unknown5af7ee80 1,355 3.8 67.8k 01.2%<0.1%000uiuc d3fieldlerobot/uiuc_d3field unknown6400996f 192 3.7 53.5k 0000011*5.9%5 unassessedberkeley rptlerobot/berkeley_rpt unknown692eff9f 908 3.6 392.6k 016.3%00–*0 / 908 assessed0totolerobot/toto unknown51f5a8dc 1,003 3.0 325.7k 000<0.1%–*0 / 1,003 assessed0abc 130k v3 smokelerobot/abc_130k_v3_smoke yam_bimanualb342a0ff 85 2.9 939.3k <0.1%<0.1%0000libero 10lerobot/libero_10 panda551d7d86 379 2.8 202.9k 01.9%0000berkeley mvplerobot/berkeley_mvp unknown076135b9 480 2.5 45.3k 000000nyu franka play datasetlerobot/nyu_franka_play_dataset unknown3b2367d0 456 2.5 89.8k 000<0.1%00*2 unassessedjaco playlerobot/jaco_play unknown265773f4 1,085 2.2 155.9k 00.9%0000stanford kuka multimodal datasetlerobot/stanford_kuka_multimodal_dataset unknown93927d10 3,000 2.1 150.0k 000000iamlab cmu pickup insertlerobot/iamlab_cmu_pickup_insert unknown5806e104 631 2.0 292.5k 02.5%0000austin buds datasetlerobot/austin_buds_dataset unknownd9f9289c 50 1.9 68.2k 013.6%<0.1%000nyu door opening surprising effectivenesslerobot/nyu_door_opening_surprising_effectiveness unknown4ae8986f 484 1.9 20.4k 01.2%0000utokyo pr2 tabletop manipulationlerobot/utokyo_pr2_tabletop_manipulation unknowna0b69188 240 1.8 32.7k 000000berkeley fanuc manipulationlerobot/berkeley_fanuc_manipulation unknown51bdefb6 415 1.7 125.2k 0<0.1%0000asu table toplerobot/asu_table_top unknown8067c851 110 1.5 26.1k 000000cmu stretchlerobot/cmu_stretch unknownd8457423 135 1.4 25.0k 000000SO101 coffee subtask 2aailabkaist/so101_coffee_subtask_2 so_follower7d498de9 486 1.2 413.1k 07.4%0060.2%*402 / 972 assessed0berkeley cable routinglerobot/berkeley_cable_routing unknown20a7774a 1,647 1.2 169.3k 000000*69 unassessedpiper-collectlerobot/piper-collect piper4d0152e5 212 1.1 247.5k 00.1%007.4%*216 / 424 assessed41.9%kaist nonprehensilelerobot/kaist_nonprehensile unknownf12d4385 201 0.9 32.4k 0<0.1%0000columbia cairlab pusht reallerobot/columbia_cairlab_pusht_real unknown66482aa1 136 0.8 55.6k 000000dlr sara pourlerobot/dlr_sara_pour unknown4246fa61 100 0.7 13.0k 000000aloha mobile cabinetlerobot/aloha_mobile_cabinet aloha7a752b39 85 0.7 382.5k 02.0%0000utokyo pr2 opening fridgelerobot/utokyo_pr2_opening_fridge unknown47504c67 80 0.6 11.5k 000000aloha mobile chairlerobot/aloha_mobile_chair aloha95a969f8 55 0.6 330.0k 01.7%00–*0 / 165 assessed0droid 100lerobot/droid_100 unknown87301a2d 100 0.6 96.6k 02.9%0.7%000*1 unassesseddlr edan shared controllerobot/dlr_edan_shared_control unknown2e7a7879 104 0.5 8.9k 000000dlr sara grid clamplerobot/dlr_sara_grid_clamp unknown1470122a 107 0.4 7.6k 000000aloha static coffee newlerobot/aloha_static_coffee_new alohaa6e434c0 50 0.4 300.0k 00.3%000*150 / 200 assessed0aloha mobile shrimplerobot/aloha_mobile_shrimp aloha6e828202 18 0.4 202.5k 01.4%0000koch pick place 1 legolerobot/koch_pick_place_1_lego unknownafc0b3e5 102 0.4 79.4k 000000aloha mobile wipe winelerobot/aloha_mobile_wipe_wine alohab57bde2a 50 0.4 195.0k 01.8%000*100 / 150 assessed0koch pick place 5 legolerobot/koch_pick_place_5_lego unknownaf1f4ff7 50 0.4 75.9k 01.0%01.0%00koch pick place 5 lego random poselerobot/koch_pick_place_5_lego_random_pose unknowne4c9188d 50 0.3 72.3k 00002.2%*92 / 100 assessed0aloha static fork pick uplerobot/aloha_static_fork_pick_up unknown6fa573d7 100 0.3 240.0k 00.3%0000svla so100 sortinglerobot/svla_so100_sorting so10013870ca9 52 0.3 71.4k 0000023.8%aloha static coffeelerobot/aloha_static_coffee alohab144896f 50 0.3 220.0k 0<0.1%0000aloha mobile wash panlerobot/aloha_mobile_wash_pan aloha2d7d8593 50 0.3 165.0k 03.4%000*100 / 150 assessed0koch pick place 1 lego raphlerobot/koch_pick_place_1_lego_raph unknown1e7afb66 100 0.3 65.9k 000000aloha static vinh cup leftlerobot/aloha_static_vinh_cup_left alohadab1a675 100 0.3 200.0k 00.7%0000aloha static vinh cuplerobot/aloha_static_vinh_cup aloha1dcb5a15 101 0.3 182.0k 00.6%0000aloha mobile elevatorlerobot/aloha_mobile_elevator aloha015f899e 20 0.2 135.0k 00.6%0000ucsd kitchen datasetlerobot/ucsd_kitchen_dataset unknownfd7751e3 150 0.2 4.0k 000000svla so100 stackinglerobot/svla_so100_stacking so100933bcc61 56 0.2 45.9k 000002*3.8%3 unassessedutokyo xarm pick and placelerobot/utokyo_xarm_pick_and_place unknownda56c23e 102 0.2 22.5k 02.6%0000aloha static candylerobot/aloha_static_candy aloha6728831e 50 0.2 140.0k 000000aloha static tapelerobot/aloha_static_tape unknown92955878 50 0.2 140.0k 00.1%0000aloha static thread velcrolerobot/aloha_static_thread_velcro unknown0c821c87 49 0.2 137.2k 00.1%0000svla so100 pickplacelerobot/svla_so100_pickplace so100728583b5 50 0.2 39.3k 000000aloha static batterylerobot/aloha_static_battery unknown06dc3da8 49 0.2 117.6k 00.4%0000aloha static towellerobot/aloha_static_towel aloha13ad96f5 50 0.1 100.0k 000000aloha sim insertion humanlerobot/aloha_sim_insertion_human alohacc571a3c 50 0.1 25.0k 000000aloha static cups openlerobot/aloha_static_cups_open alohad793c969 50 0.1 80.0k 000000aloha static screw driverlerobot/aloha_static_screw_driver aloha21eead16 50 0.1 80.0k 03.2%0000aloha sim insertion scriptedlerobot/aloha_sim_insertion_scripted aloha8ab66091 50 0.1 20.0k 000000aloha sim transfer cube humanlerobot/aloha_sim_transfer_cube_human aloha6a43d500 50 0.1 20.0k 000000aloha sim transfer cube scriptedlerobot/aloha_sim_transfer_cube_scripted alohac5467ba9 50 0.1 20.0k 000000svla so101 pickplacelerobot/svla_so101_pickplace so100_followerf641879e 50 0.1 23.9k 000000unitreeh1 fold clotheslerobot/unitreeh1_fold_clothes unknowna0926b4d 38 0.1 37.5k 00.1%000*38 / 76 assessed0aloha static ziploc slidelerobot/aloha_static_ziploc_slide alohaef8fef75 56 0.1 67.2k 000000conq hose manipulationlerobot/conq_hose_manipulation unknowna7e212c5 139 0.1 24.8k <0.1%0.8%0000*42 unassessedunitreeh1 warehouselerobot/unitreeh1_warehouse unknownc5bbea3c 24 0.1 22.6k 000000aloha static pro pencillerobot/aloha_static_pro_pencil aloha94650b0e 25 0.0 35.0k 07.8%0000utokyo xarm bimanuallerobot/utokyo_xarm_bimanual unknown13533b96 70 0.0 1.5k 000000*36 unassessedunitreeh1 rearrange objectslerobot/unitreeh1_rearrange_objects unknowne874d89b 30 0.0 14.3k 000000aloha static pingpong testlerobot/aloha_static_pingpong_test alohafb29aadd 10 0.0 24.0k 000000unitreeh1 two robot greetinglerobot/unitreeh1_two_robot_greeting unknown51d65cfa 30 0.0 7.5k 000000example hil serl datasetlerobot/example_hil_serl_dataset unknown828ec536 15 0.0 608 000000