| --- |
| license: mit |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - imitation-learning |
| - bimanual-manipulation |
| - fold-clothes |
| configs: |
| - config_name: foldcloths_yaleon |
| data_files: lerobot_foldcloths_HF_Yaleon/data/*/*.parquet |
| - config_name: foldcloths_ganrao_yaleon |
| data_files: lerobot_foldcloths_ganrao_HF_Yaleon/data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| ## Dataset Description |
|
|
| - **License:** MIT. |
| - **Task Objective:** Fold clothes using a dual-arm robot from visual observations. |
| - **Operational Objects:** cloth and clothing items. |
| - **Recording Frequency:** 30 Hz. |
| - **Robot Type:** tron2_v5. |
| - **End Effector:** left and right gripper channels in the robot state/action vectors. |
| - **Dual-Arm Operation:** Yes; left and right arm joints, grippers, and end-effector poses are recorded. |
| - **Image Observations:** included as embedded image bytes in the parquet rows. |
| - **Camera Positions:** cam_high, cam_left_wrist, cam_right_wrist. |
| - **Total Episodes:** 1,611. |
| - **Total Frames:** 1,466,001. |
| - **Upload Scope:** two LeRobot fold-cloth subsets with image observations, robot state, action, and end-effector pose fields preserved. |
| - **Intervention Splits:** `foldcloths_yaleon` contains episodes without human intervention; `foldcloths_ganrao_yaleon` contains episodes with human intervention. |
| - **Number of rows:** 1,466,001 frame rows across both subsets. |
| - **foldcloths_ganrao_yaleon Size:** 126.0 GB. |
|
|
| ## Task Preview |
|
|
| ### foldcloths_yaleon: no human intervention |
| |
| <video width="100%" controls autoplay muted loop playsinline> |
| <source src="https://huggingface.co/datasets/limx-admin/test/resolve/main/assets/foldcloths_no_intervention_preview.mp4" type="video/mp4"> |
| Your browser does not support the video tag. |
| </video> |
| |
| High-camera preview sampled from the no-human-intervention fold-clothes split. |
| |
| ### foldcloths_ganrao_yaleon: human intervention |
| |
| <video width="100%" controls autoplay muted loop playsinline> |
| <source src="https://huggingface.co/datasets/limx-admin/test/resolve/main/assets/foldcloths_human_intervention_preview.mp4" type="video/mp4"> |
| Your browser does not support the video tag. |
| </video> |
| |
| High-camera preview sampled from the human-intervention fold-clothes split. |
| |
| ## Subsets |
| |
| | Subset | Task | Episodes | Frames | Data files | Notes | |
| | --- | --- | ---: | ---: | --- | --- | |
| | `lerobot_foldcloths_HF_Yaleon` | fold clothes | 970 | 695,939 | `lerobot_foldcloths_HF_Yaleon/data/chunk-000/episode_*.parquet` | No human intervention. | |
| | `lerobot_foldcloths_ganrao_HF_Yaleon` | fold clothes | 641 | 770,062 | `lerobot_foldcloths_ganrao_HF_Yaleon/data/chunk-000/episode_*.parquet` | Human intervention. | |
|
|
| ## Files |
|
|
| - `assets/foldcloths_no_intervention_preview.mp4`: compact preview from the no-human-intervention split. |
| - `assets/foldcloths_human_intervention_preview.mp4`: compact preview from the human-intervention split. |
| - `lerobot_foldcloths_HF_Yaleon/data/chunk-000/episode_*.parquet`: first fold-cloth subset with image observations and robot fields. |
| - `lerobot_foldcloths_HF_Yaleon/meta/*.json*`: task, episode, statistics, and dataset metadata for the first subset. |
| - `lerobot_foldcloths_ganrao_HF_Yaleon/data/chunk-000/episode_*.parquet`: ganrao fold-cloth subset with the same LeRobot schema. |
| - `lerobot_foldcloths_ganrao_HF_Yaleon/meta/*.json*`: task, episode, statistics, and dataset metadata for the ganrao subset. |
|
|
| ## Feature Summary |
|
|
| | Field group | Details | |
| | --- | --- | |
| | Images | observation.images.cam_high, observation.images.cam_left_wrist, observation.images.cam_right_wrist; each image has shape 480 x 640 x 3. | |
| | State | `observation.state`, float32 vector with 16 channels. | |
| | Action | `action`, float32 vector with 16 channels. | |
| | End-effector poses | `observation.ee_pose_left`, `observation.ee_pose_right`, `observation.ee_pose_cmd_left`, `observation.ee_pose_cmd_right`; each is a 7D pose vector. | |
| | Indexing | `frame_index`, `timestamp`, `episode_index`, `index`, and `task_index`. | |
|
|
| ## Metadata |
|
|
| Both subsets use LeRobot codebase version `v2.1` and the tron2_v5 robot/camera schema. The first subset reports `695,939` frames over `970` episodes; the ganrao subset reports `770,062` frames over `641` episodes. |
| |
