Datasets:

Cache-SCA
/

SO101-cap_fold_towel_10fps_stride9

license: apache-2.0
task_categories:
  - robotics
tags:
  - robotics
  - lerobot
  - so101
  - scrape-isaaclab
  - fold-towel
  - temporal-downsampling
  - 10fps
  - stride-9

SO101 Cap Fold Towel 10fps Stride9

LeRobot v3.0 derivative of CoRL2026-CSI/SO101-cap_fold_towel_10fps.

Robot: so101_follower
Episodes: 100
Frames: 24,575
Nominal FPS: 10
Cameras: observation.images.top, observation.images.left_wrist, observation.images.right_wrist
Action keys: action, action.left_radian_urdf0, action.right_radian_urdf0

Derivation

This dataset keeps every 9th frame from the source dataset while preserving the nominal LeRobot fps=10 metadata. The effective source-time compression is 9x relative to the source dataset.

Source frame mapping within each episode:

output_frame_index k -> source_frame_index k * 9
output_timestamp    -> k / 10

For each retained source frame i, all observation, image, state, action, and skill columns are copied from source frame i. In particular, action labels are not relabelled from future states and are not shifted to the last skipped frame. This preserves the source dataset's causal LeRobot row pairing for the retained frames.

Required state/action columns are preserved:

observation.state (12 DoF)
action (12 DoF)
observation.state.left_radian_urdf0 (6 DoF)
observation.state.right_radian_urdf0 (6 DoF)
action.left_radian_urdf0 (6 DoF)
action.right_radian_urdf0 (6 DoF)

All three RGB video streams are preserved and re-encoded at 10 fps.

Provenance

Source dataset: CoRL2026-CSI/SO101-cap_fold_towel_10fps
Derived dataset: CoRL2026-CSI/SO101-cap_fold_towel_10fps_stride9
Frame stride: 9
Source episodes: 0-99
Generated with: scripts/tools/dataset/derive_subset_fps.py

SO101 Cap Fold Towel 10fps Stride9

Derivation

Contents

Provenance