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bimanual_piper_fold_stack

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bimanual_piper_fold_stack / README.md

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license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - bimanual_piper
  - v3.0
configs:
  - config_name: default
    data_files: data/*/*.parquet

Ishan-Axibo/bimanual_piper_fold_stack

LeRobot dataset for bimanual_piper.

Quick facts

codebase_version: v3.0
robot_type: bimanual_piper
fps: 30
episodes: 50
frames: 67760
tasks: 1

Load

from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("Ishan-Axibo/bimanual_piper_fold_stack")
print(len(ds), ds.num_episodes, ds.fps)
print(ds[0]["observation.state"].shape, ds[0]["action"].shape)

Train ACT

lerobot-train \
    --dataset.repo_id=Ishan-Axibo/bimanual_piper_fold_stack \
    --policy.type=act \
    --output_dir=outputs/act_bimanual_piper_fold_stack \
    --job_name=act_bimanual_piper_fold_stack