The MAESTRO dataset contains over 200 hours of paired audio and MIDI recordings from ten years of International Piano-e-Competition. The MIDI data includes key strike velocities and sustain/sostenuto/una corda pedal positions. Audio and MIDI files are aligned with ∼3 ms accuracy and sliced to individual musical pieces, which are annotated with composer, title, and year of performance. Uncompressed audio is of CD quality or higher (44.1–48 kHz 16-bit PCM stereo).