deformable-bench/flatten-tshirt
flatten_tshirt — bimanual t-shirt flattening A dual-arm Piper flattens a crumpled t-shirt on a table. Success combines a coverage signal (catches 'still crumpled') with a shape-distance signal against a canonical flat pose (catches 'spread out but still folded'). 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.… See the full description on the dataset page: https://huggingface.co/datasets/deformable-bench/flatten-tshirt.
flatten_tshirt — bimanual t-shirt flattening
A dual-arm Piper flattens a crumpled t-shirt on a table. Success combines a coverage signal (catches 'still crumpled') with a shape-distance signal against a canonical flat pose (catches 'spread out but still folded').
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
Usage
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("hwk0809/flatten-tshirt")If your torchcodec build cannot decode these videos, pass video_backend="pyav".
License
Apache-2.0.