---
license: mit
task_categories:
- robotics
tags:
- LeRobot
- SO-100
- robotics
- towel-folding
---

# Trimmed Towel Folding Dataset

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

## Dataset Details

- **Original Dataset**: [arsenxeno/record-test](https://huggingface.co/datasets/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

```python
from lerobot.datasets import make_dataset

# Load the dataset
dataset = make_dataset("xenorobotics/subroutine_1_5")

# 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
├── data/
│   └── chunk-000/
│       ├── episode_000000.parquet
│       ├── episode_000001.parquet
│       └── ...
└── videos/
    └── chunk-000/
        └── observation.images.front/
            ├── episode_000000.mp4
            ├── episode_000001.mp4
            └── ...
```