---
license: apache-2.0
pretty_name: "IMBench (LeRobot v3.0)"
tags:
  - lerobot
  - robotics
  - imbench
task_categories:
  - robotics
---

# IMBench — LeRobot v3.0 Suite

This page indexes all IMBench datasets, each published as a standalone
LeRobot v3.0 dataset repo. Click through to a dataset to view its card,
download it, or open it in the
[LeRobot Visualizer](https://huggingface.co/spaces/lerobot/visualize_dataset).

## Datasets

| Dataset | Episodes | Cameras | Visualize |
|---|---|---|---|
| [pb-hard-balance-hard-v1](https://huggingface.co/datasets/imbench/pb-hard-balance-hard-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-hard-balance-hard-v1/episode_0) |
| [pb-hard-balance-medium-v1](https://huggingface.co/datasets/imbench/pb-hard-balance-medium-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-hard-balance-medium-v1/episode_0) |
| [pb-hetbi-bowl-table-v1](https://huggingface.co/datasets/imbench/pb-hetbi-bowl-table-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-hetbi-bowl-table-v1/episode_0) |
| [pb-hetbi-cracker-box-jaw-v1](https://huggingface.co/datasets/imbench/pb-hetbi-cracker-box-jaw-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-hetbi-cracker-box-jaw-v1/episode_0) |
| [pb-hetbi-cracker-box-suction-v1](https://huggingface.co/datasets/imbench/pb-hetbi-cracker-box-suction-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-hetbi-cracker-box-suction-v1/episode_0) |
| [pb-hetbi-cup-inversion-v1](https://huggingface.co/datasets/imbench/pb-hetbi-cup-inversion-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-hetbi-cup-inversion-v1/episode_0) |
| [pb-hetbi-plate-shelf-v1](https://huggingface.co/datasets/imbench/pb-hetbi-plate-shelf-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-hetbi-plate-shelf-v1/episode_0) |
| [pb-hobi-keyboard-typing-v1](https://huggingface.co/datasets/imbench/pb-hobi-keyboard-typing-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-hobi-keyboard-typing-v1/episode_0) |
| [pb-hobi-plate-shelf-v1](https://huggingface.co/datasets/imbench/pb-hobi-plate-shelf-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-hobi-plate-shelf-v1/episode_0) |
| [pb-pr-bounce-intercept-v1](https://huggingface.co/datasets/imbench/pb-pr-bounce-intercept-v1) | 10 | 3 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-bounce-intercept-v1/episode_0) |
| [pb-pr-cube-toss-v1](https://huggingface.co/datasets/imbench/pb-pr-cube-toss-v1) | 10 | 5 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-cube-toss-v1/episode_0) |
| [pb-pr-cup-extract-v1](https://huggingface.co/datasets/imbench/pb-pr-cup-extract-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-cup-extract-v1/episode_0) |
| [pb-pr-domino-select-v1](https://huggingface.co/datasets/imbench/pb-pr-domino-select-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-domino-select-v1/episode_0) |
| [pb-pr-domino-single-v1](https://huggingface.co/datasets/imbench/pb-pr-domino-single-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-domino-single-v1/episode_0) |
| [pb-pr-edge-slide-v1](https://huggingface.co/datasets/imbench/pb-pr-edge-slide-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-edge-slide-v1/episode_0) |
| [pb-pr-galileo-ramp-drop-v1](https://huggingface.co/datasets/imbench/pb-pr-galileo-ramp-drop-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-galileo-ramp-drop-v1/episode_0) |
| [pb-pr-linear-intercept-v1](https://huggingface.co/datasets/imbench/pb-pr-linear-intercept-v1) | 10 | 3 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-linear-intercept-v1/episode_0) |
| [pb-pr-mass-sort-v1](https://huggingface.co/datasets/imbench/pb-pr-mass-sort-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-mass-sort-v1/episode_0) |
| [pb-pr-mirror-pick-place-v1](https://huggingface.co/datasets/imbench/pb-pr-mirror-pick-place-v1) | 10 | 3 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-mirror-pick-place-v1/episode_0) |
| [pb-pr-occluder-push-v1](https://huggingface.co/datasets/imbench/pb-pr-occluder-push-v1) | 10 | 3 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-occluder-push-v1/episode_0) |
| [pb-pr-packing-v1](https://huggingface.co/datasets/imbench/pb-pr-packing-v1) | 10 | 3 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-packing-v1/episode_0) |
| [pb-pr-pendulum-grasp-v1](https://huggingface.co/datasets/imbench/pb-pr-pendulum-grasp-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-pendulum-grasp-v1/episode_0) |
| [pb-pr-recover-peg-insert-v1](https://huggingface.co/datasets/imbench/pb-pr-recover-peg-insert-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-recover-peg-insert-v1/episode_0) |
| [pb-pr-seesaw-balance-v1](https://huggingface.co/datasets/imbench/pb-pr-seesaw-balance-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-seesaw-balance-v1/episode_0) |
| [pb-pr-sheltered-grasp-v1](https://huggingface.co/datasets/imbench/pb-pr-sheltered-grasp-v1) | 10 | 3 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-sheltered-grasp-v1/episode_0) |
| [pb-pr-slide-catch-v1](https://huggingface.co/datasets/imbench/pb-pr-slide-catch-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-slide-catch-v1/episode_0) |
| [pb-pr-slip-recovery-v1](https://huggingface.co/datasets/imbench/pb-pr-slip-recovery-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-slip-recovery-v1/episode_0) |
| [pb-pr-tool-retrieve-v1](https://huggingface.co/datasets/imbench/pb-pr-tool-retrieve-v1) | 10 | 5 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-tool-retrieve-v1/episode_0) |
| [pb-puzzle-ball-cage-escape-v1](https://huggingface.co/datasets/imbench/pb-puzzle-ball-cage-escape-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-puzzle-ball-cage-escape-v1/episode_0) |
| [pb-puzzle-gap-funnel-v1](https://huggingface.co/datasets/imbench/pb-puzzle-gap-funnel-v1) | 10 | 3 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-puzzle-gap-funnel-v1/episode_0) |
| [pb-puzzle-indirect-push-v1](https://huggingface.co/datasets/imbench/pb-puzzle-indirect-push-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-puzzle-indirect-push-v1/episode_0) |
| [pb-puzzle-pick-place-ycb-v1](https://huggingface.co/datasets/imbench/pb-puzzle-pick-place-ycb-v1) | 10 | 4 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-puzzle-pick-place-ycb-v1/episode_0) |
| [pb-puzzle-ramp-sort-v1](https://huggingface.co/datasets/imbench/pb-puzzle-ramp-sort-v1) | 10 | 2 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-puzzle-ramp-sort-v1/episode_0) |
| [pb-puzzle-shape-stack-v1](https://huggingface.co/datasets/imbench/pb-puzzle-shape-stack-v1) | 10 | 2 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-puzzle-shape-stack-v1/episode_0) |
| [pb-puzzle-stack-collapse-recovery-v1](https://huggingface.co/datasets/imbench/pb-puzzle-stack-collapse-recovery-v1) | 10 | 3 | [open](https://lerobot-visualize-dataset.hf.space/imbench/pb-puzzle-stack-collapse-recovery-v1/episode_0) |

## Format

LeRobot v3.0 — see https://github.com/huggingface/lerobot

Each dataset is independently loadable:

```python
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("imbench/<dataset-name>")
```