A wiper dart includes one or more wiper elements disposed about a mandrel, each wiper element comprising a wiper cup that extends radially outward and rearwardly relative to the mandrel, and a nose assembly coupled to the mandrel. A drive element is disposed about the mandrel and includes a shoe and a cup coupled to the shoe. The cup extends radially outward and rearwardly from the shoe and exhibits a maximum diameter less than or equal to a maximum diameter of the one or more wiper elements, and the shoe provides at least one of axial and radial support to the cup.