Deformable Bimanual Manipulation Benchmark
Collection
Bimanual cloth and bag manipulation in simulation: LeRobot v3.0 datasets and the policies trained on them. • 7 items • Updated
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grasp_bag_strap — bimanual bag-strap grasping
A dual-arm Piper grasps the straps of a deformable bag. Success uses a task-specific checker on the strap grasp.
This is version v2 of this dataset. Earlier iterations exist but are superseded; pin a git tag or commit sha if you need a specific version.
Part of a bimanual deformable-object (cloth / bag) manipulation benchmark. Physics is a GPU cloth solver co-simulated with the robot in a single model; observations are rendered with a photorealistic renderer.
Contents
| Format | LeRobot v3.0 (parquet + mp4, compacted) |
| Robot | sim_dual_piper_deformable |
| Episodes | 200 |
| Frames | 85,795 |
| Tasks | 1 |
| Control rate | 25 fps |
| Cameras | static_cam, right_hand_cam, left_hand_cam |
| Video | 1280×720, H264 |
| State / action | 14-D each (left 6 joints + gripper, right 6 joints + gripper) |
Notes. Episodes are long (~429 frames). When running closed-loop evaluation, make sure the step budget covers the full demo length — too short a budget truncates the episode right after the grasp completes and reports a false failure.
Usage
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("hwk0809/grasp-bag-strap")
If your torchcodec build cannot decode these videos, pass video_backend="pyav".
License
Apache-2.0.
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