---
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
```