---
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