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.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.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.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.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.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.evorl-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.piperx_flatten_v1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "piperx_bimanual_depth",
"total_episodes": 148,
"total_frames": 265367,
"total_tasks": 1,
"total_videos": 444,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:148"
},
"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_flatten_v1.piperx-sortletter-20260921-140ep-reverse
piperx-sortletter-20260921-140ep-reverse
140 episodes, 144136 frames, 30 FPS, three 640×480 RGB views. LeRobot v3.0, 14-D action and state.
Selection in output order: reverse episodes 1–140 (1-based). CTR retains two relative-timing samples per original episode (280 total); the 140ep name refers to the 140 source demonstrations.
Source: Takizz/piperx-sortletter-0911-0917-140ep-raw, pinned revision f3d743be7a21e8f9d0c5dd23c910ca50c0134ad1. provenance.json records every… See the full description on the dataset page: https://huggingface.co/datasets/Shiki42/piperx-sortletter-20260921-140ep-reverse.piperx-old-ab-rgbd-5903
PiperX Old AB RGB-D — 5,903 accepted points
This public dataset export contains the exact 5,903 accepted training Episodes recorded by the old AB SE(3) perturbation collector. The export is bound to the aggregate state.json truth and contains 5,903 unique schedule_index values across 124 closed shards (shard-00000 through shard-00123). Audit rejections remain audit records and are not training Episodes.
Data
Schema: piperx_lerobot_se3_rgbd_v2
Accepted Episodes /… See the full description on the dataset page: https://huggingface.co/datasets/Travor278/piperx-old-ab-rgbd-5903.piperx-sortletter-20260921-140ep-concurrent
piperx-sortletter-20260921-140ep-concurrent
140 episodes, 76525 frames, 30 FPS, three 640×480 RGB views. LeRobot v3.0, 14-D action and state.
Selection in output order: concurrent episodes 1–140 (1-based). CTR retains two relative-timing samples per original episode (280 total); the 140ep name refers to the 140 source demonstrations.
Source: Takizz/piperx-sortletter-0911-0917-140ep-raw, pinned revision f3d743be7a21e8f9d0c5dd23c910ca50c0134ad1. provenance.json records every… See the full description on the dataset page: https://huggingface.co/datasets/Shiki42/piperx-sortletter-20260921-140ep-concurrent.piperx_laundry_eeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "piperx_bimanual_eef_6d",
"total_episodes": 148,
"total_frames": 265367,
"total_tasks": 1,
"total_videos": 444,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:148"
},
"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_ee.pi05-piperx-7h-demo-dagger-full-episodes-20260914
Pi05 PiperX 7h Demo — Full Intervention Episodes
Full episodes of Insert the copper screw into the black sleeve., recorded on 4090A on 2026-09-11 through 2026-09-13 using a dual-PiperX robot, RTC inference, and episodic DAgger human takeover.
The source policy is Elvinky/pi05-piperx-7h-seed1000-fp32. The 7h label denotes its demonstration-data regime, not this export's duration or training wall time. This dataset contains both policy-controlled and human-controlled frames. Only… See the full description on the dataset page: https://huggingface.co/datasets/Elvinky/pi05-piperx-7h-demo-dagger-full-episodes-20260914.piperx-workpiece-storage-0909-55ep-concurrent-preview-check
Piper X workpiece storage — CTR preview-check
55 episodes, 40,268 frames at 30 FPS; 165 videos across three cameras.
LeRobot v3 format. This is a preview dataset awaiting human quality review.
Generated main-view counterfactual dual-arm videos preserve the complete measured
preparation movements and alternating L1, R1, L2, R2 pickups. Admitted executions
are uninterrupted. Exceptional episodes use farther recorded parking poses and
later admission; original episode 21 waits at… See the full description on the dataset page: https://huggingface.co/datasets/Shiki42/piperx-workpiece-storage-0909-55ep-concurrent-preview-check.evorl2-piperx-copper-screw-dagger-full-episodes-20260915
Evo-rl-2 PiperX Copper Screw — Full Intervention Episodes
Full retained episodes for Insert the copper screw into the black sleeve., collected on 4090A during 2026-09-13 to 2026-09-15 using a dual-PiperX robot, RTC inference and episodic DAgger human takeover.
Sources are the three collection tasks Evo-rl-2人工干预-913, Evo-rl-2人工干预-914, and Evo-rl2-915人工干预数据采集. This export is separate from the earlier 1h, 3h and 7h Demo collections. It retains policy-controlled and human-controlled… See the full description on the dataset page: https://huggingface.co/datasets/Elvinky/evorl2-piperx-copper-screw-dagger-full-episodes-20260915.piperx_stack_ee_single_armThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "piperx_single_arm_eef_6d",
"total_episodes": 81,
"total_frames": 68366,
"total_tasks": 1,
"total_videos": 243,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:81"
},
"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/piperx_stack_ee_single_arm.piperx-sortletter-20260921-140ep-sequential
piperx-sortletter-20260921-140ep-sequential
140 episodes, 145834 frames, 30 FPS, three 640×480 RGB views. LeRobot v3.0, 14-D action and state.
Selection in output order: original episodes 1–70 (1-based); reverse episodes 71–140 (1-based). CTR retains two relative-timing samples per original episode (280 total); the 140ep name refers to the 140 source demonstrations.
Source: Takizz/piperx-sortletter-0911-0917-140ep-raw, pinned revision f3d743be7a21e8f9d0c5dd23c910ca50c0134ad1.… See the full description on the dataset page: https://huggingface.co/datasets/Shiki42/piperx-sortletter-20260921-140ep-sequential.piperx-sortletter-0911-0917-140ep-raw
piperx-sortletter-0911-0917-140ep-raw
140 MINT letter sorting episodes recorded with EvoMind on September 10–11 and September 17, 2026 (UTC+8), combining two previously cleaned datasets.
LeRobot v3.0; bi_piperx_follower; 30 FPS; 149,961 frames; 4,998.7 seconds (83 minutes 18.7 seconds). Three original 640x480 RGB camera views: left_wrist, right_wrist, right_environment_1. Action and observation.state each contain 14 values.
Sources and episode order
Output… See the full description on the dataset page: https://huggingface.co/datasets/Takizz/piperx-sortletter-0911-0917-140ep-raw.piperx-sortletter-20260921-140ep-mixed
piperx-sortletter-20260921-140ep-mixed
140 episodes, 121676 frames, 30 FPS, three 640×480 RGB views. LeRobot v3.0, 14-D action and state.
Selection in output order: original episodes 1–47 (1-based); reverse episodes 48–94 (1-based); concurrent episodes 95–140 (1-based). CTR retains two relative-timing samples per original episode (280 total); the 140ep name refers to the 140 source demonstrations.
Source: Takizz/piperx-sortletter-0911-0917-140ep-raw, pinned revision… See the full description on the dataset page: https://huggingface.co/datasets/Shiki42/piperx-sortletter-20260921-140ep-mixed.piperx-sortletter-20260921-140ep-ctr-2x
piperx-sortletter-20260921-140ep-ctr-2x
280 episodes, 216821 frames, 30 FPS, three 640×480 RGB views. LeRobot v3.0, 14-D action and state.
Selection in output order: ctr-2x episodes 1–280 (1-based). CTR retains two relative-timing samples per original episode (280 total); the 140ep name refers to the 140 source demonstrations.
Source: Takizz/piperx-sortletter-0911-0917-140ep-raw, pinned revision f3d743be7a21e8f9d0c5dd23c910ca50c0134ad1. provenance.json records every… See the full description on the dataset page: https://huggingface.co/datasets/Shiki42/piperx-sortletter-20260921-140ep-ctr-2x.pi05-piperx-1h-demo-dagger-full-episodes-20260910
Pi05 PiperX 1h Demo — Full Intervention Episodes
Full episodes of Insert the copper screw into the black sleeve., collected on a dual-PiperX setup using the 1-hour demonstration checkpoint, with RTC inference and episodic DAgger human takeover.
The 1h label refers to the demonstration-data regime of the source policy, as specified by the experiment owner. It is not the wall-clock training time or this dataset's duration. This export contains the complete retained episodes… See the full description on the dataset page: https://huggingface.co/datasets/Elvinky/pi05-piperx-1h-demo-dagger-full-episodes-20260910.piperx_stackThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "piperx_bimanual",
"total_episodes": 92,
"total_frames": 126159,
"total_tasks": 1,
"total_videos": 276,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:92"
},
"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_stack.piperx-sortletter-0905-53ep-rgb-trimedpiper-xyz-pick-cycles-20260627This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "agilex_piper_bimanual",
"total_episodes": 2,
"total_frames": 308,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:2"
},
"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/PranayTest/piper-xyz-pick-cycles-20260627.piperx_flatten_success_rolloutsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "piperx_bimanual",
"total_episodes": 53,
"total_frames": 181264,
"total_tasks": 1,
"total_videos": 159,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:53"
},
"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_flatten_success_rollouts.piperx_pick_place_bimanual
Ishan-Axibo/piperx_pick_place_bimanual
LeRobot dataset for bimanual_piper.
Quick facts
codebase_version: v3.0
robot_type: bimanual_piper
fps: 30
episodes: 100
frames: 60507
tasks: 2
Load
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("Ishan-Axibo/piperx_pick_place_bimanual")
print(len(ds), ds.num_episodes, ds.fps)
print(ds[0]["observation.state"].shape, ds[0]["action"].shape)
Train ACT
lerobot-train \… See the full description on the dataset page: https://huggingface.co/datasets/Ishan-Axibo/piperx_pick_place_bimanual.eval_piperx_pick_and_place_v1_4This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_piperx_follower",
"total_episodes": 0,
"total_frames": 0,
"total_tasks": 0,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {},
"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/csjmacmi/eval_piperx_pick_and_place_v1_4.piperx_pick_and_place_v1_4This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_piperx_follower",
"total_episodes": 301,
"total_frames": 368974,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:301"
},
"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/csjmacmi/piperx_pick_and_place_v1_4.piperx_towel_teleops_legacyThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "piperx_bimanual",
"total_episodes": 5,
"total_frames": 10386,
"total_tasks": 1,
"total_videos": 15,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:5"
},
"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_towel_teleops_legacy.