CLARU
czc200332026cc-by-4.0

Piper Dual-Arm ACT Dataset: Cup Stacking

Bimanual manipulation dataset collected on 4× AgileX Piper 6-DoF arms via leader–follower teleoperation with 3 cameras, formatted for ACT and VLA training. Contains 50 episodes of a cup stacking task.

Downloads48
Episodes50
Hours0.6029

Technical Profile

Modalities
rgbproprioception
Robot Embodiments
AgileX Piper
Action Space
14-DoF: left_joint_1, left_joint_2, left_joint_3, left_joint_4, left_joint_5, left_joint_6, left_gripper, right_joint_1, right_joint_2, right_joint_3, right_joint_4, right_joint_5
Environment
lab
Task Types
manipulationpick_and_place
Episodes
50
Total Hours
0.6029
Data Format
LeRobot v3.0
License
cc-by-4.0
Part of the Piper Dual-Arm ACT Dataset: Cup Stacking family

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