| --- |
| 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: |
|
|
| ```text |
| 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. |
|
|
| ## Contents |
|
|
| 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` |
|
|
