xenorobotics/subroutine_1_7

Trimmed Towel Folding Dataset

This dataset contains towel folding demonstrations trimmed to the first fold.

Dataset Details

• Original Dataset: arsenxeno/record-test
• Task: Towel folding (first fold only)
• Robot: SO-100
• Episodes: 4
• Codebase Version: v2.0

Statistics

Metric	Value
Total Episodes	4
Average Original Length	839 frames
Average Trimmed Length	438 frames
Average Fold Time	29.1 seconds

Usage with LeRobot

from lerobot.datasets import make_dataset

# Load the dataset
dataset = make_dataset("xenorobotics/subroutine_1_7")

# Use in training
# ... your training code here

File Structure

trimmed_dataset/
├── meta/
│   ├── info.json          # Dataset metadata
│   ├── tasks.jsonl        # Task definitions
│   ├── episodes.jsonl     # Episode information
│   └── stats.json         # Data statistics (includes image stats)
├── data/
│   └── chunk-000/
│       ├── episode_000000.parquet
│       ├── episode_000001.parquet
│       └── ...
└── videos/
    └── chunk-000/
        └── observation.images.front/
            ├── episode_000000.mp4
            ├── episode_000001.mp4
            └── ...