Elvinky/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 cardboard tray. Each ordinary demonstration generally handles multiple bolt/sleeve pairs.

Collection mode and review

All 23 source sessions were checked against the collection database: collection_method=manual, no configured policy. These are human teleoperation recordings, not policy rollouts or extracted intervention segments. Task identity was confirmed by inspecting 207 actual video frames from 69 episodes: first, middle and last episode of every batch, at 5%, 50% and 95% of each episode.

All 331 episodes were also checked for matching metadata/data lengths, continuous indices and timestamps, finite 14-dimensional action/state values, and successful mid-episode and last-frame decoding for all three cameras. All 204 source files have SHA-256 hashes in files.jsonl. No identical action/state/timestamp trajectory hashes were found among the 331 episodes.

This is a task-and-format audit, not an exhaustive success annotation. No source episodes were removed or trimmed. The release includes 16 clips from sessions configured with a 30-second recording limit (some ended early), two startup/abort clips shorter than 5 seconds, and a few sampled scene-reset or static-tail cases. See quality_flags in episodes.jsonl. The fixed_30s_recording_segment flag refers to that configured recording limit, not an assertion that every flagged clip lasts exactly 30 seconds. Episode count must not be interpreted as a count of complete successful five-pair tasks. Duration is saved frames / 30; it excludes gaps between recordings and is not an estimate of active manipulation time.

Size by collection date

Host	Date (Asia/Shanghai)	Episodes	Frames	Hours
4090a	2026-09-04	62	241,926	2.240056
4090a	2026-09-05	16	58,198	0.538870
4090a	2026-09-06	100	326,494	3.023093
4090d	2026-09-05	57	217,308	2.012111
4090d	2026-09-06	96	331,691	3.071213
Total		331	1,175,617	10.885343

Original batches

Each directory below is an independently loadable LeRobot v3 dataset with meta/, data/ and videos/. No camera names, numeric values, video encoding or episode indices have been changed.

Batch directory	Episodes	Hours	Task image review
4090a/20260904_155244	12	0.524426	images
4090a/20260904_164643	13	0.468528	images
4090a/20260904_172110	17	0.582120	images
4090a/20260904_182408	20	0.664981	images
4090a/20260905_113913	16	0.538870	images
4090a/20260906_104854	8	0.054444	images
4090a/20260906_105802	20	0.615880	images
4090a/20260906_120609	20	0.655194	images
4090a/20260906_142608	9	0.261833	images
4090a/20260906_145119	14	0.471204	images
4090a/20260906_153808	14	0.494074	images
4090a/20260906_161118	15	0.470463	images
4090d/20260905_133638	11	0.389491	images
4090d/20260905_145058	20	0.670287	images
4090d/20260905_161440	20	0.682880	images
4090d/20260905_173215	6	0.269454	images
4090d/20260906_104814	8	0.066194	images
4090d/20260906_105934	20	0.674491	images
4090d/20260906_121801	4	0.156185	images
4090d/20260906_135538	20	0.671889	images
4090d/20260906_145210	20	0.672444	images
4090d/20260906_161214	20	0.705037	images
4090d/20260906_171221	4	0.124972	images

Load a batch

from pathlib import Path
from huggingface_hub import snapshot_download
from lerobot.datasets.lerobot_dataset import LeRobotDataset

repo = "Elvinky/piperx-copper-screw-manual-teleop-20260904-0906"
batch = "4090a/20260904_155244"
root = Path(snapshot_download(repo_id=repo, repo_type="dataset",
                              allow_patterns=[batch + "/**"]))
dataset = LeRobotDataset(repo_id=repo, root=root / batch)

Use batches.jsonl to enumerate all 23 dataset roots. Local paths supplied to LeRobot must point to an individual batch directory, not the repository root. Choose and pin the final Hub revision for reproducible training.

Features: 14-dimensional action and observation.state, and three 640x480 RGB video streams: observation.images.left_wrist, observation.images.right_wrist, observation.images.right_environment_1. Joint order is left joints 1-6, left gripper, right joints 1-6, right gripper. See each batch's meta/info.json.

Relationship to the earlier 558-episode corpus

The earlier corpus is MINT-SJTU/RW-RL-Dataset, piperx_insert_copper_screw: 558 episodes, 1,255,729 frames, 11.627120 hours. It is not included or modified in this release. Using both corpora later would total 889 recorded episodes and 22.512463 hours before any quality filtering. Its camera names and robot_type differ, so align schema when combining them.

Audit files

• batches.jsonl: source batch names, recording dates, control mode, image-review scope.
• episodes.jsonl: source episode indices, lengths, trajectory hashes and quality flags.
• files.jsonl: source-relative paths, uploaded paths, sizes and SHA-256 hashes.
• summary.json: precise counts and validation scope.
• review/: the actual sampled task-image contact sheets.

No success labels have been inferred from task titles.