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-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.evorl-piperx-copper-screw-hil-clean
PiperX Copper Screw HIL (clean)
LeRobot v3.0 clean derivative of Travor278/evorl-piperx-copper-screw-hil-raw
at revision 30cf19ad2cae0646610fc64f21c9b99ea3aaa2f3. It contains 76 episodes and 431920 frames at
30 FPS from 22 EvoStudio cloud datasets.
Only leading and trailing inactivity was eligible for removal. No interior interval
was removed. Decisions jointly use all three RGB streams, dual-arm state/action,
gripper changes, and intervention/control state, with 0.75 seconds of… See the full description on the dataset page: https://huggingface.co/datasets/Travor278/evorl-piperx-copper-screw-hil-clean.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_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_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.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-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.piperx-workpiece-storage-0909-62ep-raw
piperx-workpiece-storage-0909-62ep-raw
61 retained manually collected episodes recorded with EvoMind on 2026-09-09 (UTC+8).
Task: put the copper screw into the left box and the black sleeves into the right box.
LeRobot v3.0; 30 FPS; 53,347 frames; 1,778.2333 seconds. Robot: bi_piperx_follower.
Three original 640x480 RGB video views: left_wrist, right_wrist, right_environment_1.
Merged in chronological session order. Original episode 26 (19 frames) was removed on 2026-09-15.… See the full description on the dataset page: https://huggingface.co/datasets/Shiki42/piperx-workpiece-storage-0909-62ep-raw.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_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_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-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.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.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.piperx-demo558-value1500-a50-top10-union20-v1
PiperX advantage-selected teleoperation segments
Only pure human demonstrations. Value checkpoint step1500 (mixed demo+HIL); no HIL frames in this export.
A50 ranked globally across 558 source episodes, top10% AND A>0. Every selected start expands to [t,t+20); overlaps and adjacency merge. Each disconnected component is a separate output episode. Interior frames need not themselves be top10%.
Output: 7146 segments, 322261 frames, 2.983898 hours at30FPS.
Three camera streams and… See the full description on the dataset page: https://huggingface.co/datasets/Elvinky/piperx-demo558-value1500-a50-top10-union20-v1.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.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.piperx-put-cube-in-drawer-20260908-87ep
PiperX: put the cube into the drawer — 2026-09-08
87 recorded episodes, 54,463 frames, 30 FPS, approximately 30.26 minutes of recorded frames.
Collected on 2026-09-08 in Asia/Shanghai; source file times span approximately 03:37–05:06.
Task: put the cube into the drawer.
Contents
LeRobot v3.0 layout, dual PiperX arms, 14-dimensional action and state vectors.
Three RGB camera streams (top, left wrist, right wrist) and corresponding depth PNG ZIP archives.
Additional… See the full description on the dataset page: https://huggingface.co/datasets/Travor278/piperx-put-cube-in-drawer-20260908-87ep.openpi_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.piperx_laundry_rolloutsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "piperx_bimanual",
"total_episodes": 90,
"total_frames": 381610,
"total_tasks": 1,
"total_videos": 270,
"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/Ishan-Axibo/piperx_laundry_rollouts.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.tblock-all-piper-clean-v6-bi_piper_followerThis dataset was created using LeRobot.
Dataset Description
Joint-level bimanual piper dataset derived from local/tblock-all-piper-clean-v6. 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-v6-bi_piper_follower.bimanual-piper-dataset-threecam-test-11This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "bi_piper",
"total_episodes": 3,
"total_frames": 10691,
"total_tasks": 1,
"total_videos": 9,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:3"},
"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-11.piper_test_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "piper",
"total_episodes": 102,
"total_frames": 55954,
"total_tasks": 1,
"total_videos": 204,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:102"
},
"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/KeWangRobotics/piper_test_2.