Mockingbird315/piper-drawpattern-100

Piper DrawPattern: 10 Demos and 100 Episodes

This collection contains 10 dual-camera reference demonstrations. Each demonstration is paired with exactly 10 robot execution episodes, for a total of 100 episodes and 38,441 execution frames.

Each group is an independent LeRobot v3.0 dataset. Both reference and execution videos have two camera views (one and two), 640 x 480 pixels, at 20 fps. Robot observations and actions were collected at 20 Hz.

Groups

Group directory	Original episode indices	Episodes	Execution frames
demo01_episodes001-010	0-9	10	3729
demo02_episodes011-020	10-19	10	3279
demo03_episodes021-030	20-29	10	3267
demo04_episodes031-040	30-39	10	3576
demo05_episodes041-050	40-49	10	3794
demo06_episodes051-060	50-59	10	3250
demo07_episodes061-070	60-69	10	4027
demo08_episodes071-080	70-79	10	4328
demo09_episodes081-090	80-89	10	4629
demo10_episodes091-100	90-99	10	4562

Download and extract

The Files tab contains 10 group archives, named demo01_episodes001-010.zip through demo10_episodes091-100.zip. Each archive contains exactly one group directory with its dual-camera demonstration and 10 complete LeRobot v3.0 execution episodes. Download and extract whichever groups you need. Extract all 10 into the same directory to obtain the full 100-episode collection.

Archive SHA-256 checksums are listed in SHA256SUMS.txt. Packaging does not convert or re-encode any recording. The group table and layout describe files inside the extracted archives.

Directory layout

demo01_episodes001-010/
  demos/
    episodes.jsonl
    demo_<id>/
      Demo01_one.mp4
      Demo01_two.mp4
      manifest.json
      capture_timestamps.json
  lerobot/
    data/
    videos/
    meta/

demos/episodes.jsonl pairs each of the group's execution episodes with its reference demonstration. The matching demo_id and SHA-256 checksums are retained.

Within each group, episode_index runs from 0 to 9 and the global frame index starts at 0. Index-dependent shard metadata, timing record indices, checksums and statistics were updated together. The original frame indices within episodes, image content, observations, actions and actual capture/dispatch timestamps were preserved.

Actions and actual acquisition times

Observations and actions contain six ordered arm joints followed by the gripper. Joint angles use radians; gripper opening uses meters. Actions are absolute targets. Full names, units and semantics are recorded in each group's lerobot/meta/action_spec.json.

Actual timestamps are retained as integer UNIX and monotonic nanoseconds in the data and per-frame acquisition JSONL files. Camera timestamps describe host frame receipt, state timing includes host CAN feedback receipt, and action timing records SDK dispatch intervals. They are not hardware exposure synchronization or motor completion acknowledgements. See meta/acquisition.json for the complete definition. The standard timestamp column remains the nominal frame index divided by 20.

Reading

Download and extract the archives, then point the LeRobot reader at a group's lerobot/ directory. Keep that group's demos/ directory alongside it when using reference video conditioning.

from pathlib import Path
from huggingface_hub import snapshot_download
from zipfile import ZipFile

snapshot = snapshot_download(
    repo_id="Mockingbird315/piper-drawpattern-100",
    repo_type="dataset",
    allow_patterns=["demo*.zip", "README.md", "SHA256SUMS.txt"],
)
for archive in sorted(Path(snapshot).glob("demo*.zip")):
    with ZipFile(archive) as dataset_zip:
        dataset_zip.extractall("drawpattern_demo_groups")
# Example dataset root:
# drawpattern_demo_groups/demo01_episodes001-010/lerobot

This repository packages 10 separate datasets; the Hub repository root is not a single LeRobot dataset root. Within each extracted group, episode indices run from 0 to 9. Demo numbering is chronological grouping and does not infer task variety labels.

Validation

All 10 groups passed structural validation, full execution-video decoding, actual-acquisition metadata validation, and the official LeRobot v0.4.4 reader checks (including episode boundaries and temporal windows). Source assets were checked against the original collection. These checks establish file and format consistency; they do not independently score task performance.