Ishan-Axibo/bimanual_piper_stacking

LeRobot dataset for bimanual_piper.

Quick facts

• codebase_version: v3.0
• robot_type: bimanual_piper
• fps: 30
• episodes: 92
• frames: 126159
• tasks: 1

Load

from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("Ishan-Axibo/bimanual_piper_stacking")
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_stacking \
    --policy.type=act \
    --output_dir=outputs/act_bimanual_piper_stacking \
    --job_name=act_bimanual_piper_stacking