README.md

metadata

pretty_name: Sim1 Dataset (LeRobot Format)
license: apache-2.0
task_categories:
  - robotics
language:
  - en
tags:
  - lerobot
  - embodied-ai
  - robotic-manipulation
  - imitation-learning
size_categories:
  - 10K<n<100K
configs:
  - config_name: default
    data_files:
      - split: train
        path:
          - real_three_fold/data/**/*.parquet
          - scale_fold_mat/data/**/*.parquet
          - scale_shorts/data/**/*.parquet
          - scale_fold_shirt_in_domain/data/**/*.parquet
          - scale_fold_shirt_randomtexture/data/**/*.parquet
          - scale_fold_shirt_randpos/data/**/*.parquet

Sim1_Dataset

LeRobot-format manipulation dataset for cloth folding / deformable object tasks.

Format

This repository follows a LeRobot-style layout per subset:

• data/chunk-xxx/episode_XXXXXX.parquet: frame-level trajectories
• videos/chunk-xxx/images.rgb.{head,hand_left,hand_right}/episode_XXXXXX.mp4: multi-view videos
• meta/episodes.jsonl, meta/episodes_stats.jsonl, meta/tasks.jsonl, meta/info.json: episode/task metadata

The Dataset Viewer is configured from the parquet files in each subset via the configs.data_files section above.

Subsets (configs)

• real_three_fold
• scale_fold_mat
• scale_shorts
• scale_fold_shirt_in_domain
• scale_fold_shirt_randomtexture
• scale_fold_shirt_randpos

Notes

• Primary supervised signal is from parquet trajectories.
• MP4 files are provided for visualization and replay.
• If access is gated, file listing is visible but content requires accepted access conditions.

📚 Citation

If you find this work useful, please cite:

SIM1 (arXiv:2604.08544)

https://arxiv.org/abs/2604.08544