xenorobotics/towel-fold-trimmed-v17

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 with teleoperation
• Episodes: 4
• Detection Method: CLIP-based similarity to reference fold image

Statistics

Metric	Value
Total Episodes	4
Average Original Length	839 frames
Average Trimmed Length	438 frames
Average Fold Time	29.1 seconds
Average Fold Similarity	0.982

File Structure

videos/
├── observation.images.front/
│   ├── episode_000000.mp4
│   ├── episode_000001.mp4
│   └── ...

Usage

Load with Python

import cv2
from pathlib import Path

# Download dataset
dataset_path = "path/to/dataset"

# Load video
video_path = Path(dataset_path) / "videos/observation.images.front/episode_000000.mp4"
cap = cv2.VideoCapture(str(video_path))

With LeRobot (if compatible)

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset(repo_id="xenorobotics/towel-fold-trimmed-v17")

License

MIT License - Same as original dataset