datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
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-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.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.piper_pick_cube_resize_mergedThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"joint_1.pos",
"joint_2.pos",
"joint_3.pos",
"joint_4.pos",
"joint_5.pos",
"joint_6.pos",
"gripper.pos"
],
"shape": [… See the full description on the dataset page: https://huggingface.co/datasets/GabrielNing/piper_pick_cube_resize_merged.piper_arm
📊 Interactive Data Viewer
Explore real robot demonstration samples from the Piper Arm dataset directly in your browser! This interactive viewer lets you browse episodes, inspect images, actions, and robot states.
🔍 What you can see:
✅ RGB images from front-facing camera (640×480)
✅ Action commands (6D: dx, dy, dz, droll, dpitch, dyaw)
✅ Robot joint states and end-effector pose
✅ Episode success signal (done, reward)
🔁 Navigate between samples using "Next" / "Prev" buttons
🧩… See the full description on the dataset page: https://huggingface.co/datasets/ISdept/piper_arm.Piper_traffic_light_water_hdf5_0614piperx-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.piper_task_v5_clean_sg
Piper Task v5 — lerobot-cleaner + per-episode SG
Derived from DCC1015/piper_task_v4 using Escapist-coder/lerobot_cleaner plus a per-episode SciPy Savitzky–Golay rule inserted before final reindexing and statistics.
Processing
R1 timestamp/alignment validation;
R2 leading/trailing static-frame trim (trim_edges, threshold 0.002);
R3 binarization of state.gripper only at threshold 50.0;
R4 enabled with no ROI configured (no spatial crop);
R5 minimum episode length… See the full description on the dataset page: https://huggingface.co/datasets/yudanzi/piper_task_v5_clean_sg.piper-stack-umi-v0This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 400,
"total_frames": 222082,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:400"
},
"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/axiboai/piper-stack-umi-v0.lili-romanian-single-speaker-piper-cleanlili-romanian-single-speaker-piper
Lili Romanian Single-Speaker Piper Dataset
A curated Romanian single-speaker speech dataset prepared for Piper training.
Segments
10,738
Total duration
22.91 hours
Speaker
Lili
Gender
female
Language
Romanian (ro)
Audio format
WAV, 16-bit, mono, 22.05 kHz
Segment duration
2.52 - 9.99 seconds
Summary
This dataset contains a single Romanian narrator exposed as Lili.
It is published as a Hugging Face Parquet-backed audio dataset, so the Hub… See the full description on the dataset page: https://huggingface.co/datasets/eduardem/lili-romanian-single-speaker-piper.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.piper-stack-act-recapThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 200,
"total_frames": 109822,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:200"
},
"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/axiboai/piper-stack-act-recap.piperx-scripted-stack-real2sim-v1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 250,
"total_frames": 147831,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:250"
},
"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/axiboai/piperx-scripted-stack-real2sim-v1.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.kabyle-piper-22khzGenManip-Piper-cuRobo-Assetspiper-stack-scripted-smolvla-v4This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 200,
"total_frames": 125458,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:200"
},
"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/axiboai/piper-stack-scripted-smolvla-v4.piper-stack-act-tactile-depth-v0This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 400,
"total_frames": 223205,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:400"
},
"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/axiboai/piper-stack-act-tactile-depth-v0.piper-stack-act-recap-successThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 103,
"total_frames": 60628,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:103"
},
"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/axiboai/piper-stack-act-recap-success.piper-stack-rollouts-success-policy-v1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 200,
"total_frames": 511243,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:200"
},
"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/axiboai/piper-stack-rollouts-success-policy-v1.PIPer-SFT-2500-sharegptPaper | Code
PIPer-envbench-zeroshot-rlPaper | Code
piperx_pick_and_place_v1_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_piperx_follower",
"total_episodes": 5,
"total_frames": 1961,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:5"
},
"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/Sohaib03/piperx_pick_and_place_v1_2.eval_piperx_pick_and_place_v1_5This 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_5.piper-stack-act-tactile-v0This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 400,
"total_frames": 223894,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:400"
},
"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/axiboai/piper-stack-act-tactile-v0.piperx_pick_and_place_v1_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_piperx_follower",
"total_episodes": 1,
"total_frames": 2240,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:1"
},
"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_2.piper-stack-scripted-v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 400,
"total_frames": 218735,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:400"
},
"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/axiboai/piper-stack-scripted-v2.