robot-usds
LeRobot robot USDs
Source notes
LeRobot robot USDs
OpenUSD models of the robots in LeRobot datasets. Their joints and links carry the names of the URDFs in lerobot/robot-urdfs, so a dataset's joint values drive them the way they drive the URDF.
Robot Root USD Size Geometry
SO-101, also used for SO-100 so101_new_calib/simready_usd/so101_new_calib.usd 6 MB 17 meshes, 399k triangles
OpenArm, bimanual openarm_bimanual/simready_usd/openarm_bimanual.usd 6 MB 58 meshes, 404k triangles
Each is a… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/robot-usds.
- Scale
- Not declared
- Formats
- Not declared
- License
- apache-2.0
- Published
- 2026-11-02
- Embodiments
- Not declared
- Modalities
- Not declared
Decision summary
task_categories:robotics
No verified blocker is published; unresolved facts remain unknown.
Read the dataset manifest and feature schema.
Release history
Source-backed release timing for this canonical dataset record.
- Release evidence
Dataset published
Release timing is recorded from the official source creation date.
Selection readiness
6 evidence dimensions for deciding whether this dataset is ready to inspect, compare, or adopt. This is not a model benchmark.
Catalog evidence · not task performance
How scores work—
Not scored
0/6 dimensions scored · 15% confidence
Read the evidence behind all 6 dimensions
Access and governance
Access and license are declared by the source.
Schema and signal coverage
No machine-readable schema has been verified yet.
Policy training readiness
Observation/action alignment has not been established.
World-model readiness
World-model observation, geometry, or temporal semantics are not verified.
Failure and recovery readiness
No verified failure/recovery annotation evidence is available yet.
Download and processing readiness
Dataset scale and sampling path are unknown.
Review unresolved evidence and next checks
Signal gaps
- Observation / ego video. Not enough evidence is available to classify this signal.
- Action / hand pose / robot state. Not enough evidence is available to classify this signal.
- Gaze / attention. Not enough evidence is available to classify this signal.
- Feedback / correction / failure. Not enough evidence is available to classify this signal.
Next checks
- Read the dataset manifest and feature schema.
- Run a bounded sample audit before assigning Strong readiness.
Engineering checks (OBRS) behind this record
Needs Audit
OBRS metadata and reported test evidence. A breakdown behind Selection readiness, not a separate score or an independent OpenBot certification.
- A passing real-hardware test report is required.
- A passing ingestion/pipeline test report is required.
- A passing privacy and provenance review is required.
Dataset facts
- Source
- lerobot
- Evidence
- official claim
- Formats
- Not declared
Loop signals
3/7 present or partial
No decision-grade evidence captured yet.
unknownNo decision-grade evidence captured yet.
unknownView 5 more signal categories
No decision-grade evidence captured yet.
unknowntask_categories:robotics
partialNo decision-grade evidence captured yet.
unknownLeRobot robot USDs OpenUSD models of the robots in LeRobot datasets. Their joints and links carry the names of the URDFs in lerobot/robot-urdfs, so a dataset's joint values drive them the way they drive the URDF. Robot Root USD Size Geometry SO-101, also used for SO-100 so101_new_calib/simready_usd/so101_new_calib.usd 6 MB 17 meshes, 399k triangles OpenArm, bimanual openarm_bimanual/simready_usd/openarm_bimanual.usd 6 MB 58 meshes, 404k triangles Each is a… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/robot-usds.
presentUnknown · apache-2.0
presentEvidence details and provenance
Official signal claims
Schema and annotations
No machine-readable schema facts are captured.
Sample verification
Pending. Metadata does not prove sample coverage, alignment, or file integrity.
curated official source
Integration notes
No integration notes are published.