Smokepord/piper_pick_place_xy_random_50_v1

Piper-H Pick-and-Place XY Random 50

This dataset was created using LeRobot.

Dataset Description

This dataset contains 50 successful real-robot demonstrations collected with an AgileX Piper-H robotic arm. The task is to pick up a blue 3D-printed container twist-lock part and place it inside a black container.

• License: CC BY 4.0

Dataset Structure

• 50 episodes and 18,884 frames at 20 Hz
• Two synchronized RGB observations from wrist-mounted and fixed Intel RealSense D435i cameras
• 640 x 480 AV1 video without audio
• 7-dimensional state and action vectors ordered as six joint positions followed by gripper position
• Absolute position actions expressed in the same normalized coordinate system as the state

The piper_follower value in meta/info.json is the LeRobot plugin robot type. The physical robot used to collect the dataset was an AgileX Piper-H.

Collection Scope

The object was randomly translated within a small planar XY region. Object height and orientation, container pose, cameras, lighting, and the wider workspace arrangement remained effectively fixed.

This dataset supports an in-region imitation-learning baseline. It should not be interpreted as covering changes in object height or orientation, lighting, camera pose, container geometry, or larger workspace regions.

ACT Baseline

An ACT policy selected at checkpoint 25,000 achieved 16 successes in 20 real-robot trials (80%; approximate 95% Wilson interval: 58.4%-91.9%). Evaluation used four in-region object start positions with five trials per position; each position produced four successes and one failure. Failure stages and trial durations were not separately recorded.

Citation

@misc{smokepord_piper_pick_place_xy_random_50_v1,
  author       = {Smokepord},
  title        = {Piper-H Pick-and-Place XY Random 50 Dataset},
  year         = {2026},
  publisher    = {Hugging Face},
  howpublished = {\url{https://huggingface.co/datasets/Smokepord/piper_pick_place_xy_random_50_v1}}
}