# legged: 45 catalogue datasets

Rows 1 to 45, sorted by hours, datasets that do not state it last.

This page reaches the end of the list.

| dataset | kind | robot class | hours | episodes | year | licence | access | id |
|---|---|---|---|---|---|---|---|---|
| [Quad-Imaginarium](https://datasets.gurasees.com/datasets/quad-imaginarium.md) | synthetic or generated | legged | 18.5 |  | 2026 | not stated | open | quad-imaginarium |
| [Starlink Robot Dataset](https://datasets.gurasees.com/datasets/starlink-robot-dataset.md) | navigation and mobile | legged | 7 |  | 2025 | not stated | open | starlink-robot-dataset |
| [ARMDOG (DECOWAM)](https://datasets.gurasees.com/datasets/armdog-decowam.md) | teleop | legged | 5.4 | 1,487 | 2026 | not stated | not stated | armdog-decowam |
| [GrandTour dataset](https://datasets.gurasees.com/datasets/grandtour-dataset.md) | legged locomotion | legged | 5 |  | 2025 | open | open | grandtour-dataset |
| [GrandTour](https://datasets.gurasees.com/datasets/grandtour.md) | teleop | legged | 5 |  | 2025 | open | open | grandtour |
| [Human2LocoMan dataset](https://datasets.gurasees.com/datasets/human2locoman-dataset.md) | teleop | legged | 4 |  | 2025 | not stated | open | human2locoman-dataset |
| [TokenWalker (GemNav)](https://datasets.gurasees.com/datasets/tokenwalker-gemnav.md) | teleop | legged | 1.4 |  | 2026 | not stated | not stated | tokenwalker-gemnav |
| [LocoMuJoCo datasets](https://datasets.gurasees.com/datasets/locomujoco-datasets.md) | legged locomotion | legged |  |  | 2023 | no derivatives | open | locomujoco-datasets |
| [unitreerobotics/G1_WBT_Inspire_Collect_Clothes_MainCamOnly](https://datasets.gurasees.com/datasets/unitreerobotics-g1-wbt-inspire-collect-clothes-maincamonly.md) | other | legged |  |  | 2026 | open | open | unitreerobotics-g1-wbt-inspire-collect-clothes-maincamonly |
| [unitreerobotics/G1_WBT_Inspire_Pickup_Pillow_MainCamOnly](https://datasets.gurasees.com/datasets/unitreerobotics-g1-wbt-inspire-pickup-pillow-maincamonly.md) | other | legged |  |  | 2026 | open | open | unitreerobotics-g1-wbt-inspire-pickup-pillow-maincamonly |
| [Spot Terrain Dataset](https://datasets.gurasees.com/datasets/spot-terrain-dataset.md) | legged locomotion | legged |  |  | 2024 | not stated | open | spot-terrain-dataset |
| [Human2LocoMan](https://datasets.gurasees.com/datasets/human2locoman.md) | teleop | legged |  |  | 2025 | open | open | human2locoman |
| [MobileVLA-CoT](https://datasets.gurasees.com/datasets/mobilevla-cot.md) | language and reasoning annotation | legged |  |  | 2026 | not stated | open | mobilevla-cot |
| [Go2 Air ControlBench v1](https://datasets.gurasees.com/datasets/go2-air-controlbench-v1.md) | legged locomotion | legged |  |  | 2026 | open | open | go2-air-controlbench-v1 |
| [Kine2Go](https://datasets.gurasees.com/datasets/kine2go.md) | legged locomotion | legged |  | 800 | 2026 | not stated | not stated | kine2go |
| [DLS-IIT quadruped_locomotion](https://datasets.gurasees.com/datasets/dls-iit-quadruped-locomotion.md) | legged locomotion | legged |  |  | 2025 | open | open | dls-iit-quadruped-locomotion |
| [MicroDuck Locomotion Dataset V1.0](https://datasets.gurasees.com/datasets/microduck-locomotion-dataset-v1-0.md) | legged locomotion | legged |  |  | 2026 | open | open | microduck-locomotion-dataset-v1-0 |
| [go2-wm-indoor-1hr](https://datasets.gurasees.com/datasets/go2-wm-indoor-1hr.md) | world model and video | legged |  |  | 2025 | open | open | go2-wm-indoor-1hr |
| [Unitree legged robotic datasets (Horizon Robotics)](https://datasets.gurasees.com/datasets/unitree-legged-robotic-datasets-horizon-robotics.md) | legged locomotion | legged |  |  | 2025 | open | gated | unitree-legged-robotic-datasets-horizon-robotics |
| [HARPER](https://datasets.gurasees.com/datasets/harper.md) | humanoid and human motion | legged |  |  | 2024 | not stated | not stated | harper |
| [NaVILA dataset](https://datasets.gurasees.com/datasets/navila-dataset.md) | language and reasoning annotation | legged |  |  | 2024 | not stated | open | navila-dataset |
| [SAIT guide dog robot dataset](https://datasets.gurasees.com/datasets/sait-guide-dog-robot-dataset.md) | language and reasoning annotation | legged |  |  | 2025 | not stated | not stated | sait-guide-dog-robot-dataset |
| [Agile perceptive multi-skill quadruped locomotion raw data](https://datasets.gurasees.com/datasets/agile-perceptive-multi-skill-quadruped-locomotion-raw-data.md) | legged locomotion | legged |  |  | 2026 | open | open | agile-perceptive-multi-skill-quadruped-locomotion-raw-data |
| [AI4Animation quadruped mocap (Mode-Adaptive Neural Networks)](https://datasets.gurasees.com/datasets/ai4animation-quadruped-mocap-mode-adaptive-neural-networks.md) | legged locomotion | legged |  |  | 2018 | non commercial | open | ai4animation-quadruped-mocap-mode-adaptive-neural-networks |
| [AMP for hardware A1 mocap motions](https://datasets.gurasees.com/datasets/amp-for-hardware-a1-mocap-motions.md) | legged locomotion | legged |  |  | 2022 | not stated | not stated | amp-for-hardware-a1-mocap-motions |
| [CEAR](https://datasets.gurasees.com/datasets/cear.md) | legged locomotion | legged |  |  | 2024 | not stated | open | cear |
| [Cerberus visual-inertial-leg odometry data](https://datasets.gurasees.com/datasets/cerberus-visual-inertial-leg-odometry-data.md) | legged locomotion | legged |  |  | 2022 | not stated | not stated | cerberus-visual-inertial-leg-odometry-data |
| [Leg-KILO dataset](https://datasets.gurasees.com/datasets/leg-kilo-dataset.md) | legged locomotion | legged |  |  | 2024 | not stated | open | leg-kilo-dataset |
| [M-SEVIQ](https://datasets.gurasees.com/datasets/m-seviq.md) | legged locomotion | legged |  |  | 2026 | not stated | not stated | m-seviq |
| [MIT Mini Cheetah contact data sets](https://datasets.gurasees.com/datasets/mit-mini-cheetah-contact-data-sets.md) | legged locomotion | legged |  |  | 2021 | not stated | open | mit-mini-cheetah-contact-data-sets |
| [Motion Imitation retargeted dog motions (Peng et al.)](https://datasets.gurasees.com/datasets/motion-imitation-retargeted-dog-motions-peng-et-al.md) | legged locomotion | legged |  |  | 2020 | not stated | open | motion-imitation-retargeted-dog-motions-peng-et-al |
| [OCELOT dataset](https://datasets.gurasees.com/datasets/ocelot-dataset.md) | legged locomotion | legged |  |  | 2026 | not stated | not stated | ocelot-dataset |
| [PFERD (Poses for Equine Research Dataset)](https://datasets.gurasees.com/datasets/pferd-poses-for-equine-research-dataset.md) | legged locomotion | legged |  |  | 2024 | not stated | not stated | pferd-poses-for-equine-research-dataset |
| [QuadFM](https://datasets.gurasees.com/datasets/quadfm.md) | legged locomotion | legged | claims 20.2 |  | 2026 | not stated | not stated | quadfm |
| [Real-world quadrupedal locomotion offline RL benchmark](https://datasets.gurasees.com/datasets/real-world-quadrupedal-locomotion-offline-rl-benchmark.md) | legged locomotion | legged |  |  | 2023 | not stated | not stated | real-world-quadrupedal-locomotion-offline-rl-benchmark |
| [RGBD-Dog](https://datasets.gurasees.com/datasets/rgbd-dog.md) | legged locomotion | legged |  |  | 2020 | not stated | not stated | rgbd-dog |
| [TAIL and TAIL-Plus](https://datasets.gurasees.com/datasets/tail-and-tail-plus.md) | legged locomotion | legged |  |  | 2024 | not stated | on request | tail-and-tail-plus |
| [MBE-ARI](https://datasets.gurasees.com/datasets/mbe-ari.md) | other | legged |  |  | 2025 | not stated | not stated | mbe-ari |
| [SayTap (utokyo_saytap)](https://datasets.gurasees.com/datasets/saytap-utokyo-saytap.md) | real manipulation scripted or autonomous | legged |  | 20 | 2023 | not stated | open | saytap-utokyo-saytap |
| [UMI on Legs](https://datasets.gurasees.com/datasets/umi-on-legs.md) | real manipulation scripted or autonomous | legged |  |  | 2024 | not stated | open | umi-on-legs |
| [ForEnt](https://datasets.gurasees.com/datasets/forent.md) | teleop | legged |  |  | 2026 | not stated | not stated | forent |
| [QUARD (QUAR-VLA)](https://datasets.gurasees.com/datasets/quard-quar-vla.md) | teleop | legged |  | 259,000 | 2023 | not stated | not stated | quard-quar-vla |
| [WildLMa demonstrations](https://datasets.gurasees.com/datasets/wildlma-demonstrations.md) | teleop | legged |  |  | 2024 | not stated | not stated | wildlma-demonstrations |
| [WL&Arm Dataset (FWBC-VLA)](https://datasets.gurasees.com/datasets/wl-arm-dataset-fwbc-vla.md) | teleop | legged |  | 5,000 | 2026 | not stated | not stated | wl-arm-dataset-fwbc-vla |
| [DiTer++](https://datasets.gurasees.com/datasets/diter.md) | underwater and field | legged |  |  | 2024 | not stated | not stated | diter |

Everything that exists: https://datasets.gurasees.com/browse.md