diff --git a/.gitattributes b/.gitattributes
index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..f5f7575360501c49efcbba46bd1f22fc0ec950f2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -57,3 +57,9 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+scissors_hidden_20251104_205751.hdf5 filter=lfs diff=lfs merge=lfs -text
+smallkey_20251104_203257.hdf5 filter=lfs diff=lfs merge=lfs -text
+smallpaper_20251104_203636.hdf5 filter=lfs diff=lfs merge=lfs -text
+smallwoodenstick_20251104_204353.hdf5 filter=lfs diff=lfs merge=lfs -text
+thinmetaldisk_20251104_204557.hdf5 filter=lfs diff=lfs merge=lfs -text
+thinmetaldisk_20251104_204721.hdf5 filter=lfs diff=lfs merge=lfs -text
diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..e977c075be985e27ebe26d20f4b32fa68dd9a5b4
--- /dev/null
+++ b/README.md
@@ -0,0 +1,130 @@
+---
+license: mit
+task_categories:
+  - robotics
+  - imitation-learning
+tags:
+  - robotics
+  - teleoperation
+  - manipulation
+  - robot-learning
+  - demonstration-data
+size_categories:
+  - 1K<n<10K
+---
+
+# PiPER Robot Teaching Episodes Dataset
+
+This dataset contains teleoperation demonstrations recorded using the PiPER robotic system.
+
+## Dataset Description
+
+- **Total Episodes**: 13
+- **Unique Tasks**: 12
+- **Total Size**: ~6.2 GB
+- **Cameras**: Dual camera setup (table_cam + wrist_cam)
+- **Recording Date**: November 2024
+
+## Tasks Included
+
+- cleaningcloth
+- fillamentroll
+- gamecontroller
+- hexwrench
+- pencil
+- scissors
+- scissors_hidden
+- screwdriver
+- smallkey
+- smallpaper
+- smallwoodenstick
+- thinmetaldisk
+
+## Dataset Structure
+
+```
+dataset/
+├── {episode_name}_{timestamp}.hdf5  # Robot state, action, and compressed image data
+├── {episode_name}_{timestamp}.json  # Episode metadata
+└── {episode_name}_images/
+    ├── observation.images.table_cam/    # Table view images (800x720, cropped)
+    │   └── frame_XXXXXX.png
+    └── observation.images.wrist_cam/    # Wrist view images (vertically flipped)
+        └── frame_XXXXXX.png
+```
+
+## Data Format
+
+### HDF5 Files
+Each `.hdf5` file contains:
+- `observations/state`: Robot joint states (7-DOF)
+- `observations/images/table_cam`: Compressed table camera images
+- `observations/images/wrist_cam`: Compressed wrist camera images  
+- `actions`: Robot actions/commands
+- `timestamps`: Frame timestamps
+
+### JSON Metadata
+Each `.json` file contains:
+- Episode name and duration
+- Number of frames and FPS
+- State dimension and statistics (mean, std, min, max)
+- Recording timestamp
+- Camera configuration
+
+### Image Folders
+Extracted and processed images:
+- **table_cam**: Cropped to 800x720 pixels (offset 300,0)
+- **wrist_cam**: Vertically flipped for correct orientation
+
+## Usage
+
+```python
+from pathlib import Path
+import h5py
+import json
+from PIL import Image
+
+# Load episode
+episode_path = "screwdriver_20251104_203022.hdf5"
+with h5py.File(episode_path, 'r') as f:
+    states = f['observations/state'][:]
+    actions = f['actions'][:]
+    timestamps = f['timestamps'][:]
+
+# Load metadata
+with open(episode_path.replace('.hdf5', '.json'), 'r') as f:
+    metadata = json.load(f)
+    print(f"Episode: {metadata['episode_name']}")
+    print(f"Frames: {metadata['n_frames']}, Duration: {metadata['duration_seconds']:.2f}s")
+
+# Load images
+image_dir = Path(f"{metadata['episode_name']}_images")
+frame_0_table = Image.open(image_dir / "observation.images.table_cam" / "frame_000000.png")
+frame_0_wrist = Image.open(image_dir / "observation.images.wrist_cam" / "frame_000000.png")
+```
+
+## Citation
+
+If you use this dataset, please cite:
+
+```bibtex
+@dataset{piper_teaching_episodes_2024,
+  title={PiPER Robot Teaching Episodes Dataset},
+  author={Your Name},
+  year={2024},
+  publisher={Hugging Face},
+  howpublished={\url{https://huggingface.co/datasets/charithmunasinghe/piper_picking_tests}}
+}
+```
+
+## License
+
+MIT License - See LICENSE file for details.
+
+## Additional Information
+
+- **Robot Platform**: PiPER (link to robot documentation if available)
+- **Control Interface**: Teleoperation with human demonstrations
+- **Processing**: Images have been preprocessed (cropping, flipping) for ML training
+
+For questions or issues, please open an issue in the repository.
diff --git a/cleaningcloth_20251104_205021.hdf5 b/cleaningcloth_20251104_205021.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..daa0077a4133d10dfb79514a0866b7b92f389614
Binary files /dev/null and b/cleaningcloth_20251104_205021.hdf5 differ
diff --git a/cleaningcloth_20251104_205021.json b/cleaningcloth_20251104_205021.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7ebbd704652a7f53c7679f94d262c4c4bc86739
--- /dev/null
+++ b/cleaningcloth_20251104_205021.json
@@ -0,0 +1,52 @@
+{
+  "episode_name": "cleaningcloth",
+  "filename": "cleaningcloth_20251104_205021.hdf5",
+  "n_frames": 168,
+  "duration_seconds": 14.607131481170654,
+  "fps": 30,
+  "state_dim": 7,
+  "cameras_enabled": true,
+  "recording_date": "2025-11-04T20:50:21.199562",
+  "state_stats": {
+    "mean": [
+      -1.5172984600067139,
+      40.84795379638672,
+      -25.687700271606445,
+      11.449346542358398,
+      17.155677795410156,
+      -21.593551635742188,
+      12.069960594177246
+    ],
+    "std": [
+      1.3097813129425049,
+      40.387081146240234,
+      26.027740478515625,
+      12.56808090209961,
+      16.06996726989746,
+      18.382123947143555,
+      25.989543914794922
+    ],
+    "min": [
+      -2.7139999866485596,
+      -0.7680000066757202,
+      -67.98200225830078,
+      -6.078000068664551,
+      -5.24399995803833,
+      -46.13999938964844,
+      -2.940000057220459
+    ],
+    "max": [
+      0.032999999821186066,
+      102.47799682617188,
+      1.6469999551773071,
+      34.13600158691406,
+      48.263999938964844,
+      2.3429999351501465,
+      66.77999877929688
+    ]
+  },
+  "cameras": [
+    "table_cam",
+    "wrist_cam"
+  ]
+}
\ No newline at end of file
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