Upload trimmed multi-stream dataset compatible with LeRobot

README.md

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+---
+configs:
+- config_name: default
+  data_files:
+  - split: train
+    path: data/**/*.parquet
+---
+
+# Trimmed Towel Folding Dataset (Multi-Stream)
+
+This is a trimmed version of arsenxeno/record-test where each episode is cut at the first fold detection.
+All video streams are trimmed to the same frame based on detection from a single stream.
+
+Fold detection performed using: observation.images.front
+
+## Dataset Info
+- Total episodes: 1
+- Total frames: 312
+- Total videos: 1
+- Structure: chunked (chunk_size=51)
+- Episodes included: [0]
+
+## Usage with LeRobot
+
+```python
+from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
+
+dataset = LeRobotDataset(
+    repo_id="xenorobotics/new-27",
+    version="v2.0"
+)
+```
+
+## Training
+
+```bash
+lerobot train \
+    dataset_repo_id=xenorobotics/new-27 \
+    policy=diffusion \
+    env=so100_real \
+    hydra.run.dir=outputs/train
+```
+
+## Original Dataset
+Source: https://huggingface.co/datasets/arsenxeno/record-test

data/chunk-000/episode_000000.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:d0430e76f951b79649d16213766ad7c23151f74b2f72e3343722847148c4d2f8
+size 35655

meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Fold the towel"], "length": 312}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"max": [58.5843391418457, 73.69979095458984, 99.3003921508789, 98.74214172363281, 61.758243560791016, 31.465797424316406, 62.8798828125, 79.38871765136719, 98.99413299560547, 99.53325653076172, 99.31623840332031, 33.39634704589844], "min": [-57.3795166015625, -99.3234634399414, -96.76432037353516, 32.54716873168945, 4.126984119415283, 1.8241041898727417, -65.55716705322266, -99.05956268310547, -98.99413299560547, 45.00194549560547, -78.11965942382812, 1.0712034702301025], "mean": [-15.888379096984863, -3.206669569015503, -4.4778733253479, 80.72537994384766, 24.869638442993164, 8.081029891967773, 13.771941184997559, -19.52802276611328, 21.499727249145508, 76.94770050048828, -19.026758193969727, 9.087244033813477], "std": [36.38344192504883, 58.477577209472656, 69.00508117675781, 17.10761833190918, 13.740666389465332, 6.934883117675781, 33.06306457519531, 68.54700469970703, 73.77452087402344, 17.598447799682617, 29.603900909423828, 8.161066055297852], "count": [900]}, "action": {"max": [61.97235870361328, 74.0511245727539, 98.9659652709961, 98.9374771118164, 62.148963928222656, 33.07493591308594, 63.66279220581055, 80.78350830078125, 99.65096282958984, 100.0, 100.0, 34.33994674682617], "min": [-58.012699127197266, -98.91557312011719, -97.75959014892578, 31.9166316986084, 3.931623935699463, 0.08613264560699463, -65.84302520751953, -98.76288604736328, -98.952880859375, 44.09385299682617, -99.26740264892578, 0.17256255447864532], "mean": [-15.593151092529297, -4.102779865264893, -5.629867076873779, 80.7935562133789, 24.866931915283203, 7.10338020324707, 13.35804557800293, -19.711231231689453, 20.99360466003418, 76.90789031982422, -20.31623649597168, 8.466513633728027], "std": [36.475059509277344, 57.693321228027344, 69.08404541015625, 17.293373107910156, 13.745528221130371, 7.784829616546631, 33.14558029174805, 68.29400634765625, 73.83541107177734, 17.928985595703125, 29.90614128112793, 8.753019332885742], "count": [900]}, "timestamp": {"max": [59.93333333333333], "min": [0.0], "mean": [29.966666666666665], "std": [17.32049738401382], "count": [900]}, "frame_index": {"max": [899], "min": [0], "mean": [449.5], "std": [259.80746076020733], "count": [900]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [900]}, "index": {"max": [899], "min": [0], "mean": [449.5], "std": [259.80746076020733], "count": [900]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [900]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42759555502417773]], [[0.4201311291115362]], [[0.3903242949279983]]], "std": [[[0.2420635467558299]], [[0.25198447481002517]], [[0.2633908743876881]]], "count": [164]}}}

meta/info.json

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+{
+  "robot_type": "bi_so100_follower",
+  "codebase_version": "v2.1",
+  "total_episodes": 1,
+  "total_frames": 312,
+  "total_tasks": 1,
+  "total_videos": 1,
+  "total_chunks": 1,
+  "chunks_size": 51,
+  "fps": 15,
+  "splits": {
+    "train": "0:51"
+  },
+  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "features": {
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        12
+      ],
+      "names": [
+        "left_shoulder_pan.pos",
+        "left_shoulder_lift.pos",
+        "left_elbow_flex.pos",
+        "left_wrist_flex.pos",
+        "left_wrist_roll.pos",
+        "left_gripper.pos",
+        "right_shoulder_pan.pos",
+        "right_shoulder_lift.pos",
+        "right_elbow_flex.pos",
+        "right_wrist_flex.pos",
+        "right_wrist_roll.pos",
+        "right_gripper.pos"
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        12
+      ],
+      "names": [
+        "left_shoulder_pan.pos",
+        "left_shoulder_lift.pos",
+        "left_elbow_flex.pos",
+        "left_wrist_flex.pos",
+        "left_wrist_roll.pos",
+        "left_gripper.pos",
+        "right_shoulder_pan.pos",
+        "right_shoulder_lift.pos",
+        "right_elbow_flex.pos",
+        "right_wrist_flex.pos",
+        "right_wrist_roll.pos",
+        "right_gripper.pos"
+      ]
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "observation.images.front": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
+      "info": {
+        "video.fps": 15,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    }
+  }
+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "Fold the towel"}

videos/chunk-000/observation.images.front/episode_000000.mp4

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a0c0c709a230fab18b1ba2b5281cd59974db1bc262023ae6f31a44d0c109f8d6
+size 14265959