datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
piper-checkpointsCheckpoints for Piper text to speech system.
piperx-copper-screw-manual-teleop-20260904-0906
PiperX copper-screw insertion: manual teleoperation, 2026-09-04 to 2026-09-06
331 recorded episodes, 1,175,617 frames at 30 FPS, 10.885343 hours of saved recordings.
This release contains 23 original LeRobot v3 recording batches from 4090A and 4090D.
The batches are kept separate, with their original episode indices and byte-for-byte source files.
The task is bimanual insertion of a copper-colored bolt into a black sleeve,
followed by placement of the assembled parts into a… See the full description on the dataset page: https://huggingface.co/datasets/Elvinky/piperx-copper-screw-manual-teleop-20260904-0906.piper-rtpiperx_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_vrpiper_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": {
"action":… See the full description on the dataset page: https://huggingface.co/datasets/kelo234/piper_real_test_0125_1.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.piperx-put-cube-in-drawer-20260908-87ep-ctr-preview-check
piperx-put-cube-in-drawer-20260908-87ep-ctr-preview-check
LeRobot v3.0;156 episodes from78 retained original sources;86912 frames
at30 FPS. The87ep name identifies the original source collection, not output count.
Three synchronized output videos per episode: top848x480, left/right wrist640x480.
Action and observation.state are float32[14]: left6 joints+gripper, right6 joints+gripper.
Joints are degrees; grippers mm.
The right arm executes opening and preparation up to a shared… See the full description on the dataset page: https://huggingface.co/datasets/Shiki42/piperx-put-cube-in-drawer-20260908-87ep-ctr-preview-check.piperx-sortletter-0905-53ep-mixed
PiperX Sort Letters — Mixed
This dataset mixes three execution orders, with 36 episodes per order
and 108 episodes total (88,552 frames at 30 FPS):
Output episode indices (zero-based)
Execution order
Source episodes
0–35
Left arm, then right arm
bi-sequential 0–35
36–71
Right arm, then left arm
bi-sequential 54–89
72–107
Concurrent: both arms start together
retimed 0–35
Source datasets
PiperX Sort Letters — Bi-sequential
supplies the original… See the full description on the dataset page: https://huggingface.co/datasets/Shiki42/piperx-sortletter-0905-53ep-mixed.piper_pick_bread_to_plate_fixedtblock-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-policy-evals
PiPER policy evals
Real-robot policy rollouts on the PiPER bimanual cell (plate pick, hand-over, place),
run from the operator stack's Policy panel at execution speed multipliers of 1x to 6x.
One folder per policy, one sub-folder per run (start time, IST): the three camera clips
(top, left-arm, right-arm; re-encoded from the recorded chunks with every frame at its
capture time, so they play in real time; clip t = 0 is 1 s before the run start and
frame_ts.json lists each frame's… See the full description on the dataset page: https://huggingface.co/datasets/PranayTest/piper-policy-evals.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.piper_dataset20251222抓取物体数据
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.piper_pick_place_spritecl-piper-single-hang-cuppiper-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_traffic_light_water_color_merged
Piper Merged LeRobot Dataset
Generated by data/utils/merge_piper_hdf5_lerobot_to_lerobot.py.
Repo id: ZhaoRunyi/Piper_traffic_light_water_color_merged
FPS: 10
Visual backend: video
LeRobot merge mode: copy
State/action order: per arm joint6, gripper01, ee_pos3, ee_rot6d6.
Input paths:
/home/edemlab/challenge_ws/data/ZhaoRunyi/Piper_traffic_light_water_color
/home/edemlab/challenge_ws/data/challenge_hdf5/PourBeaker_Long_color_0627
observation.state and action use identical… See the full description on the dataset page: https://huggingface.co/datasets/ZhaoRunyi/Piper_traffic_light_water_color_merged.piperx-sortletter-0905-53ep-rand-retime
PiperX Sort Letters - Uniform Timing Retime
Source: https://huggingface.co/datasets/Shiki42/piperx-sortletter-0905-53ep-rgb-trimed/tree/1f14eb1d2a68891a1754650575c751ac50c88466
This dataset contains 108 counterfactually retimed episodes selected
from a 216-point uniform schedule grid. It contains the even global grid
indices (0, 2, ..., 214). The full grid position is u = grid_index / 216.
At u=0 the left arm completes immediately before the right arm starts. Moving
rightward on… See the full description on the dataset page: https://huggingface.co/datasets/Shiki42/piperx-sortletter-0905-53ep-rand-retime.piper-speedup-evals
PiPER speed-up evals
Real-robot policy rollouts on the PiPER bimanual cell (plate pick, hand-over, place),
run from the operator stack's Policy panel at execution speed multipliers of 1x to 6x.
One folder per policy, one sub-folder per run (start time, IST): the three camera clips
(top, left-arm, right-arm; re-encoded from the recorded chunks with every frame at its
capture time, so they play in real time; clip t = 0 is 1 s before the run start and
frame_ts.json lists each… See the full description on the dataset page: https://huggingface.co/datasets/PranayTest/piper-speedup-evals.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.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_insert_mouse_battery_lerobotpiper_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.