---
configs:
- config_name: default
  data_files:
  - split: train
    path: data/**/*.parquet
---

# Trimmed Towel Folding Dataset (Multi-Stream)

This is a trimmed version of arsenxeno/augmented-setup 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: 337
- Total videos: 3
- Structure: chunked (chunk_size=50)
- Episodes included: [0]

## Usage with LeRobot

```python
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset(
    repo_id="xenorobotics/new-28",
    version="v2.0"
)
```

## Training

```bash
lerobot train \
    dataset_repo_id=xenorobotics/new-28 \
    policy=diffusion \
    env=so100_real \
    hydra.run.dir=outputs/train
```

## Original Dataset
Source: https://huggingface.co/datasets/arsenxeno/augmented-setup