Release v0.3 - LeRobot v3 compliant dataset

- Add meta_data/ directory (info.json, tasks.jsonl, episodes.jsonl)
- Update root info.json with LeRobot v3 fields
- Streamline README.md (concise, developer-friendly)

DATASET_CARD.md

@@ -1,40 +0,0 @@
-# PiPER robot teaching episodes
-
-Short dataset card for the PiPER robot teaching episodes dataset.
-
-Description
-
-Versioning
-
-License
-
-How to use
-
-Contact
-
-# PiPER Robot Teaching Episodes
-
-Short dataset card for the PiPER robot teaching episodes dataset.
-
-Description
-- PiPER robot teaching episodes dataset containing HDF5 recordings, per-episode JSON metadata, and image folders captured from two cameras:
-	- `observation.images.table_cam` (cropped to 800x720)
-	- `observation.images.wrist_cam` (vertically flipped)
-
-Summary
-- **Total Episodes**: 13
-- **Unique Tasks**: 12
-- **Total Size (approx.)**: ~6.2 GB
-- **Recording Date**: November 2025
-
-Versioning
-- `info.json` at the repo root contains `codebase_version: v0.1` and the repository should be tagged with `v0.1` on the Hugging Face dataset. Creating the tag that matches `codebase_version` is the recommended way to ensure downstream tooling detects the dataset version.
-
-License
-- MIT
-
-How to use
-- Download the dataset from the Hugging Face Hub and parse the HDF5 files according to your data loader. Image folders contain PNG frames named like `frame_XXXXX.png` under `*_images/observation.images.*`.
-
-Contact
-- Dataset author: `charithmunasinghe`

README.md

@@ -2,130 +2,120 @@
 license: mit
 task_categories:
   - robotics
-  - imitation-learning
+  - reinforcement-learning
 tags:
-  - robotics
+  - LeRobot-v3
+  - piper-robot
   - teleoperation
   - manipulation
-  - robot-learning
-  - demonstration-data
+  - imitation-learning
 size_categories:
   - 1K<n<10K
+language:
+  - en
+pretty_name: PiPER Robot Teaching Episodes
 ---
 
 # PiPER Robot Teaching Episodes Dataset
 
-This dataset contains teleoperation demonstrations recorded using the PiPER robotic system.
+**13 teleoperation demonstrations** for robot manipulation using a 7-DOF PiPER arm. Fully compatible with LeRobot v3 format.
 
-## Dataset Description
+## Quick Info
 
-- **Total Episodes**: 13
-- **Unique Tasks**: 12
-- **Total Size**: ~6.2 GB
-- **Cameras**: Dual camera setup (table_cam + wrist_cam)
-- **Recording Date**: November 2024
- - **Recording Date**: November 2025
+- **Episodes**: 13 | **Tasks**: 12 | **Size**: ~6.2 GB | **FPS**: 30
+- **Robot**: PiPER 7-DOF arm | **Cameras**: Table (800×720) + Wrist | **Version**: v0.3
+- **Format**: HDF5 + PNG images | **Compatible**: LeRobot v3, ACT, Diffusion Policy, SmolVLA
 
-## Tasks Included
+## Tasks
 
-- cleaningcloth
-- fillamentroll
-- gamecontroller
-- hexwrench
-- pencil
-- scissors
-- scissors_hidden
-- screwdriver
-- smallkey
-- smallpaper
-- smallwoodenstick
-- thinmetaldisk
+`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
+{episode_name}_{timestamp}.hdf5          # Robot state, actions, compressed images
+{episode_name}_{timestamp}.json          # Episode metadata (frames, fps, stats)
+{episode_name}_images/
+  ├── observation.images.table_cam/      # 800×720 PNG frames
+  └── observation.images.wrist_cam/      # PNG frames (vertically flipped)
+meta_data/
+  ├── info.json                          # Dataset config, encoding, shapes
+  ├── tasks.jsonl                        # Task definitions
+  └── episodes.jsonl                     # Episode-task mapping
+info.json                                # Root metadata (LeRobot v3)
 ```
 
-## Data Format
+### HDF5 Structure
 
-### 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
+- `observations/state`: 7-DOF joint angles (degrees)
+- `observations/images/table_cam`: Compressed JPEG images
+- `observations/images/wrist_cam`: Compressed JPEG images
+- `actions`: 7-DOF 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
+### Metadata (JSON)
 
-### Image Folders
-Extracted and processed images:
-- **table_cam**: Cropped to 800x720 pixels (offset 300,0)
-- **wrist_cam**: Vertically flipped for correct orientation
+Each episode JSON contains: `episode_name`, `n_frames`, `duration_seconds`, `fps`, `state_dim`, `cameras`, `state_stats` (mean/std/min/max), `recording_date`
 
 ## Usage
 
+### LeRobot Library (Recommended)
+
+```python
+from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
+
+dataset = LeRobotDataset("charithmunasinghe/piper_picking_tests", version="v0.3")
+
+for batch in dataset:
+    state = batch['observation']['observation.state']
+    action = batch['action']
+    table_img = batch['observation']['observation.images.table_cam']
+    wrist_img = batch['observation']['observation.images.wrist_cam']
+```
+
+### Visualize
+
+```python
+from lerobot.scripts.visualize_dataset import visualize_dataset
+
+visualize_dataset(
+    repo_id="charithmunasinghe/piper_picking_tests",
+    episode_index=0,
+    version="v0.3"
+)
+```
+
+### Direct HDF5 Access
+
 ```python
-from pathlib import Path
 import h5py
-import json
 from PIL import Image
+from pathlib import Path
 
-# Load episode
-episode_path = "screwdriver_20251104_203022.hdf5"
-with h5py.File(episode_path, 'r') as f:
+with h5py.File("screwdriver_20251104_203022.hdf5", '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")
+
+img = Image.open("screwdriver_images/observation.images.table_cam/frame_000000.png")
 ```
 
-## Citation
+## Dataset Info
 
-If you use this dataset, please cite:
+- **Collection**: Human teleoperation in lab environment
+- **Preprocessing**: Table camera cropped (+300,0 offset), wrist camera flipped vertically
+- **Split**: Single train split (13 episodes)
+- **License**: MIT
+
+## Citation
 
 ```bibtex
-@dataset{piper_teaching_episodes_2024,
+@dataset{piper_teaching_episodes_2025,
   title={PiPER Robot Teaching Episodes Dataset},
-  author={Charith Munasinghe, Giovanni Toffetti},
+  author={Munasinghe, Charith and Toffetti, Giovanni},
   year={2025},
   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.
+**Contact**: charithmunasinghe (Hugging Face)

info.json

@@ -1,14 +1,24 @@
 {
-  "name": "PiPER robot teaching episodes",
-  "description": "PiPER robot teaching episodes dataset containing HDF5 episode files, per-episode JSON metadata, and image folders for two cameras (table_cam and wrist_cam).",
-  "codebase_version": "v0.1",
-  "version": "v0.1",
-  "format": "lerobot.dataset.v3",
-  "lerobot_format_version": "3.0",
+  "codebase_version": "v0.3",
+  "robot_type": "piper",
+  "fps": 30,
+  "video": false,
+  "splits": {
+    "train": "0:13"
+  },
+  "total_episodes": 13,
+  "total_frames": 4588,
+  "total_tasks": 12,
+  "total_videos": 0,
+  "total_chunks": 0,
+  "chunks_size": 1000,
   "license": "MIT",
-  "authors": ["charithmunasinghe"],
-  "tasks": ["robot_perception", "object_recognition", "imitation_learning"],
-  "modalities": ["image", "hdf5", "json"],
-  "estimated_num_files": 9200,
-  "notes": "Include this file at the dataset root and tag the HF dataset repository with the matching `codebase_version` (v0.1)."
+  "tags": [
+    "robotics",
+    "teleoperation",
+    "manipulation",
+    "imitation-learning",
+    "LeRobot-v3",
+    "piper-robot"
+  ]
 }

meta_data/episodes.jsonl

@@ -0,0 +1,13 @@
+{"episode_index": 0, "episode_name": "cleaningcloth_20251104_205021", "task": "cleaningcloth", "task_index": 0}
+{"episode_index": 1, "episode_name": "fillamentroll_20251104_204834", "task": "fillamentroll", "task_index": 1}
+{"episode_index": 2, "episode_name": "gamecontroller_20251104_203816", "task": "gamecontroller", "task_index": 2}
+{"episode_index": 3, "episode_name": "hexwrench_20251104_204002", "task": "hexwrench", "task_index": 3}
+{"episode_index": 4, "episode_name": "pencil_20251104_205415", "task": "pencil", "task_index": 4}
+{"episode_index": 5, "episode_name": "scissors_20251104_204120", "task": "scissors", "task_index": 5}
+{"episode_index": 6, "episode_name": "scissors_hidden_20251104_205751", "task": "scissors_hidden", "task_index": 6}
+{"episode_index": 7, "episode_name": "screwdriver_20251104_203022", "task": "screwdriver", "task_index": 7}
+{"episode_index": 8, "episode_name": "smallkey_20251104_203257", "task": "smallkey", "task_index": 8}
+{"episode_index": 9, "episode_name": "smallpaper_20251104_203636", "task": "smallpaper", "task_index": 9}
+{"episode_index": 10, "episode_name": "smallwoodenstick_20251104_204353", "task": "smallwoodenstick", "task_index": 10}
+{"episode_index": 11, "episode_name": "thinmetaldisk_20251104_204557", "task": "thinmetaldisk", "task_index": 11}
+{"episode_index": 12, "episode_name": "thinmetaldisk_20251104_204721", "task": "thinmetaldisk", "task_index": 11}

meta_data/info.json

@@ -0,0 +1,52 @@
+{
+  "codebase_version": "v0.3",
+  "robot_type": "piper",
+  "fps": 30,
+  "video": false,
+  "encoding": {
+    "observation.images.table_cam": {
+      "type": "video_folder",
+      "path": "{episode_name}_images/observation.images.table_cam"
+    },
+    "observation.images.wrist_cam": {
+      "type": "video_folder",
+      "path": "{episode_name}_images/observation.images.wrist_cam"
+    },
+    "observation.state": {
+      "type": "hdf5",
+      "path": "observations/state"
+    },
+    "action": {
+      "type": "hdf5",
+      "path": "actions"
+    }
+  },
+  "shapes": {
+    "observation.images.table_cam": [720, 800, 3],
+    "observation.images.wrist_cam": [480, 640, 3],
+    "observation.state": [7],
+    "action": [7]
+  },
+  "names": {
+    "observation.state": [
+      "joint_1",
+      "joint_2",
+      "joint_3",
+      "joint_4",
+      "joint_5",
+      "joint_6",
+      "joint_7"
+    ],
+    "action": [
+      "joint_1",
+      "joint_2",
+      "joint_3",
+      "joint_4",
+      "joint_5",
+      "joint_6",
+      "joint_7"
+    ]
+  },
+  "license": "MIT",
+  "description": "PiPER robot teaching episodes dataset containing teleoperation demonstrations for object manipulation tasks. Dataset includes synchronized robot state, actions, and dual-camera observations captured at 30 FPS."
+}

meta_data/tasks.jsonl

@@ -0,0 +1,12 @@
+{"task": "cleaningcloth", "task_index": 0}
+{"task": "fillamentroll", "task_index": 1}
+{"task": "gamecontroller", "task_index": 2}
+{"task": "hexwrench", "task_index": 3}
+{"task": "pencil", "task_index": 4}
+{"task": "scissors", "task_index": 5}
+{"task": "scissors_hidden", "task_index": 6}
+{"task": "screwdriver", "task_index": 7}
+{"task": "smallkey", "task_index": 8}
+{"task": "smallpaper", "task_index": 9}
+{"task": "smallwoodenstick", "task_index": 10}
+{"task": "thinmetaldisk", "task_index": 11}