datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
piperx_foldThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "piperx_bimanual",
"total_episodes": 200,
"total_frames": 181033,
"total_tasks": 1,
"total_videos": 600,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:200"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/Ishan-Axibo/piperx_fold.piper_real_test_0213This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "piper",
"total_episodes": 50,
"total_frames": 15000,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {… See the full description on the dataset page: https://huggingface.co/datasets/kelo234/piper_real_test_0213.piper-apple-picking-1m-joints
Piper Apple Picking (Isaac Sim) — 1M frames — joint-space state
LeRobot v3 dataset: an AgileX Piper 6-DOF arm harvesting apples into a bucket,
collected in Isaac Lab / Isaac Sim with a cuRobo motion planner.
This is the joint-space variant of
Faless/piper-apple-picking-1m:
identical episodes/videos, but observation.state is reduced to 8 dims (no
end-effector pose) for policies that act purely in joint space.
Episodes: 1,056
Frames: 1,024,754
FPS: 30
Robot: piper_full
Cameras:… See the full description on the dataset page: https://huggingface.co/datasets/Faless/piper-apple-picking-1m-joints.tblock-all-piper-clean-piper-jointsThis dataset was created using LeRobot.
Dataset Description
Joint-level bimanual piper dataset derived from local/tblock-all-piper-clean. Each side stores YAML-declared arm joints in radians and, when present, one physical gripper opening in meters. observation.state[t] contains the command at t and action[t] contains the command at t+1.
Homepage: https://github.com/murobotics-ai/handumi-sw
Paper: [More Information Needed]
License: other
Six episodes the… See the full description on the dataset page: https://huggingface.co/datasets/murobotics/tblock-all-piper-clean-piper-joints.piper_dual_act
Piper 双臂机械臂数据集 · 摞杯子任务
Bimanual manipulation dataset collected on 4× AgileX Piper 6-DoF arms
(leader–follower teleoperation) with 3 cameras, in
LeRobot v3.0 format.
Ready for ACT and VLA training out of the box.
配套代码、环境配置与实测调参结论见 GitHub 仓库（见页面底部）。
快速开始 · Quick start
from lerobot.datasets import LeRobotDataset
ds = LeRobotDataset("czc20033/piper_dual_act")
print(ds.meta.total_episodes, ds.meta.total_frames, ds.meta.fps)
s = ds[0]
s["observation.state"]… See the full description on the dataset page: https://huggingface.co/datasets/czc20033/piper_dual_act.tblock-all-piper-clean-piper-jointsThis dataset was created using LeRobot.
Dataset Description
Joint-level bimanual piper dataset derived from local/tblock-all-piper-clean. Each side stores YAML-declared arm joints in radians and, when present, one physical gripper opening in meters. observation.state[t] contains the command at t and action[t] contains the command at t+1.
Homepage: https://github.com/murobotics-ai/handumi-sw
Paper: [More Information Needed]
License: other
Six episodes the… See the full description on the dataset page: https://huggingface.co/datasets/NONHUMAN-RESEARCH/tblock-all-piper-clean-piper-joints.tblock-all-piper-clean-v4-bi_piper_followerThis dataset was created using LeRobot.
Dataset Description
Joint-level bimanual piper dataset derived from local/tblock-all-piper-clean-v4. The state is the LeRobot bi_piper_follower follower vector (left_shoulder_pan.pos, left_shoulder_lift.pos, left_elbow_flex.pos, ...) in that plugin's own units, so it trains and deploys through its stack unchanged. observation.state[t] contains the command at t and action[t] contains the command at t+1.
Homepage:… See the full description on the dataset page: https://huggingface.co/datasets/murobotics/tblock-all-piper-clean-v4-bi_piper_follower.piper_real_test_0125_1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "piper",
"total_episodes": 60,
"total_frames": 4095,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:60"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {… See the full description on the dataset page: https://huggingface.co/datasets/kelo234/piper_real_test_0125_1.piper_task_v4This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "piper_follower",
"total_episodes": 100,
"total_frames": 47731,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/DCC1015/piper_task_v4.piper_dataset20251222抓取物体数据
tblock-all-piper-clean-bi_piper_followerThis dataset was created using LeRobot.
Dataset Description
Joint-level bimanual piper dataset derived from local/tblock-all-piper-clean. The state is the LeRobot bi_piper_follower follower vector (left_shoulder_pan.pos, left_shoulder_lift.pos, left_elbow_flex.pos, ...) in that plugin's own units, so it trains and deploys through its stack unchanged. observation.state[t] contains the command at t and action[t] contains the command at t+1.
Homepage:… See the full description on the dataset page: https://huggingface.co/datasets/murobotics/tblock-all-piper-clean-bi_piper_follower.piper_pick_place_spritepiper_5_coffee_v8This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "piperx_bimanual_joint",
"total_episodes": 488,
"total_frames": 465053,
"total_tasks": 5,
"total_videos": 976,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:488"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/axiboai/piper_5_coffee_v8.piper-tabletopv2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 60,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
13
],
"names": [
"joint_1_rad",
"joint_2_rad",
"joint_3_rad",
"joint_4_rad",
"joint_5_rad",
"joint_6_rad"… See the full description on the dataset page: https://huggingface.co/datasets/ibrue/piper-tabletopv2.piper_handout_merged_v4_v5
Piper paper-cup handover — 79 curated episodes
Task: Pick up the paper cup with the gripper, place it in the person’s hand, and then open the gripper.
This LeRobot v2.1 dataset contains 79 episodes, 38,948 data frames and 158 RGB videos at 30 FPS, 640×480. Episode indices are 0–78, with continuous global frame indices 0–38,947. All episodes are in the training split.
Source
Retained episodes
Frames
Current episode indices
piper_handout_v4
21
10,023
0–20… See the full description on the dataset page: https://huggingface.co/datasets/DCC1015/piper_handout_merged_v4_v5.piper_cubeevorl-piperx-copper-screw-3h-demo-1h-intervention-clean
PiperX 插螺栓：3h Demo 模型采集的 1h 人工干预
本数据集是使用 3 小时 Demo 训练的模型进行插螺栓 rollout，并由人工接管干预采集得到的数据。名称中的“1 小时”指累计人工干预时长（实际为 1h 03m 10.433s），不是完整 rollout 的总时长。本仓库保留完整的清洗后 rollout（含自主动作与人工干预），不包含原始 3 小时 Demo 数据，也不是将 3h Demo 与 1h 干预拼接后的训练集。
Collection checkpoint
模型：Elvinky/pi05-piperx-3h-seed1000-fp32
固定 checkpoint revision：2ba7d1689a2ecce55477c9bf58b7af701144849d
“3h Demo”描述的是采集策略的训练数据规模，不是本仓库所包含的 Demo 时长。
Dataset summary
LeRobot Dataset v3 格式。
项目
数量… See the full description on the dataset page: https://huggingface.co/datasets/Takizz/evorl-piperx-copper-screw-3h-demo-1h-intervention-clean.piper_real_test_0121_3_testThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "piper",
"total_episodes": 47,
"total_frames": 40259,
"total_tasks": 1,
"total_videos": 94,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:47"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/kelo234/piper_real_test_0121_3_test.piper_5_coffee_v11This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "piperx_bimanual_joint",
"total_episodes": 555,
"total_frames": 522275,
"total_tasks": 5,
"total_videos": 1110,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:555"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/axiboai/piper_5_coffee_v11.piper_tampingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "piperx_bimanual_joint",
"total_episodes": 140,
"total_frames": 153789,
"total_tasks": 1,
"total_videos": 280,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:140"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/axiboai/piper_tamping.piper-umi-ee-pick-placeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "piper_single_eef_6d",
"total_episodes": 90,
"total_frames": 38416,
"total_tasks": 1,
"total_videos": 90,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:90"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/axiboai/piper-umi-ee-pick-place.tblock-all-piper-clean-v5-bi_piper_followerThis dataset was created using LeRobot.
Dataset Description
Joint-level bimanual piper dataset derived from local/tblock-all-piper-clean-v5. The state is the LeRobot bi_piper_follower follower vector (left_shoulder_pan.pos, left_shoulder_lift.pos, left_elbow_flex.pos, ...) in that plugin's own units, so it trains and deploys through its stack unchanged. observation.state[t] contains the command at t and action[t] contains the command at t+1.
Homepage:… See the full description on the dataset page: https://huggingface.co/datasets/murobotics/tblock-all-piper-clean-v5-bi_piper_follower.piper-apple-picking-1m
Piper Apple Picking (Isaac Sim) — 1M frames, with apple bounding boxes
LeRobot v3 dataset: an AgileX Piper 6-DOF arm harvesting apples into a bucket,
collected in Isaac Lab / Isaac Sim with a cuRobo motion planner.
Episodes: 1,056
Frames: 1,024,754
FPS: 30
Robot: piper_full
Cameras: observation.images.ego (wrist), observation.images.front — 640×360, AV1
Apple count per episode: 1–5 (rebalanced toward 4–5). Every episode places all apples in the bucket.
Cleaned release: 99… See the full description on the dataset page: https://huggingface.co/datasets/Faless/piper-apple-picking-1m.bi_piper_pick_and_place_fruits_mantraThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_piper_follower",
"total_episodes": 2301,
"total_frames": 901977,
"total_tasks": 4,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:2301"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/Autobrik/bi_piper_pick_and_place_fruits_mantra.piper_real_test_0121_3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "piper",
"total_episodes": 47,
"total_frames": 40259,
"total_tasks": 1,
"total_videos": 94,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:47"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/kelo234/piper_real_test_0121_3.Piper_items_hand_over_place_0421
Piper LeRobot Dataset
Generated on 2026-04-21 by convert_piper_hdf5_to_lerobot.py.
Summary
Repo id: ZhaoRunyi/Piper_items_hand_over_place_0421
Robot type: aloha
Input dir: /home/edemlab/challenge_ws/control_your_robot/example/teleop/save/dual_piper_data/items_hand_over_and_place
Output dir: /home/edemlab/challenge_ws/data/ZhaoRunyi/Piper_items_hand_over_place_0421
FPS: 10
Sampling mode: full
Leading group: slave_cam_high
Crop strategy: LATEST_START
Default leading… See the full description on the dataset page: https://huggingface.co/datasets/ZhaoRunyi/Piper_items_hand_over_place_0421.evorl-piperx-copper-screw-attempt-aware-clean-v2
PiperX Copper Screw Attempt-Aware Clean v2
This public LeRobot Dataset v3 release contains a root attempt-level training view and a complete physical master view under physical_master/.
Counts and provenance
New EvoStudio physical episodes: 83 from 10 upload-complete collections.
Old fixed source: Travor278/evorl-piperx-copper-screw-hil-clean@18016184b09929643b6bd055b3f5833bfb2e7b85.
Old episodes at or below the original duration threshold: 10 of 76.
Old… See the full description on the dataset page: https://huggingface.co/datasets/Travor278/evorl-piperx-copper-screw-attempt-aware-clean-v2.Piper_Uncap_Penopenpi_PiPER_demo_train_3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "piper",
"total_episodes": 98,
"total_frames": 37649,
"total_tasks": 1,
"total_videos": 294,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 200,
"splits": {
"train": "0:98"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/aromanus/openpi_PiPER_demo_train_3.bimanual-piper-dataset-threecam-test-10This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "bi_piper",
"total_episodes": 1,
"total_frames": 2817,
"total_tasks": 1,
"total_videos": 3,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/HCHoongChing/bimanual-piper-dataset-threecam-test-10.