This dataset was created using LeRobot.
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foldcloths_yaleon: no human intervention
High-camera preview sampled from the no-human-intervention fold-clothes split.
foldcloths_ganrao_yaleon: human intervention
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.
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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:
contains episodes with human intervention.
Number of rows:
1,466,001 frame rows across both subsets.
foldcloths_ganrao_yaleon Size:
126.0 GB.
Total file size:
244 GB