Here it is a complete example that compiles (just in case others need it).
\version "2.19.82"
rh = { \clef treble
a1 b1 c'1 d'1 \break
a1 b1 c'1 d'1 \break
a1 b1 c'1 d'1 \break}
lh = { \clef bass
r1 r r r
a1 a a a
s1 s s s}
\score
{
\new PianoStaff <<
\new Staff \rh
\new Staff \with {
keepAliveInterfaces =
#'( rest-interface bass-figure-interface chord-name-interface cluster-beacon-interface
fret-diagram-interface lyric-syllable-interface note-head-interface tab-note-head-interface lyric-interface
percent-repeat-item-interface percent-repeat-interface stanza-number-interface
)
} \lh
>>
\layout {
\context {
\PianoStaff
\RemoveEmptyStaves
\remove "Keep_alive_together_engraver"
\override VerticalAxisGroup.remove-first = ##t
}
}
}