| --- |
| 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 |
|
|
| ```python |
| 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 |
|
|
| ```bash |
| 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 |
| ``` |
|
|
