CoRL2026-CSI/SO101-cap_fold_towel_10fps_stride9

SO101 Cap Fold Towel 10fps Stride9

LeRobot v3.0 derivative of CoRL2026-CSI/SO101-cap_fold_towel_10fps.

• Robot: so101_follower
• Episodes: 100
• Frames: 24,575
• Nominal FPS: 10
• Cameras: observation.images.top, observation.images.left_wrist, observation.images.right_wrist
• Action keys: action, action.left_radian_urdf0, action.right_radian_urdf0

Derivation

This dataset keeps every 9th frame from the source dataset while preserving the nominal LeRobot fps=10 metadata. The effective source-time compression is 9x relative to the source dataset.

Source frame mapping within each episode:

output_frame_index k -> source_frame_index k * 9
output_timestamp    -> k / 10

For each retained source frame i, all observation, image, state, action, and skill columns are copied from source frame i. In particular, action labels are not relabelled from future states and are not shifted to the last skipped frame. This preserves the source dataset's causal LeRobot row pairing for the retained frames.

Contents

Required state/action columns are preserved:

• observation.state (12 DoF)
• action (12 DoF)
• observation.state.left_radian_urdf0 (6 DoF)
• observation.state.right_radian_urdf0 (6 DoF)
• action.left_radian_urdf0 (6 DoF)
• action.right_radian_urdf0 (6 DoF)

All three RGB video streams are preserved and re-encoded at 10 fps.

Provenance

• Source dataset: CoRL2026-CSI/SO101-cap_fold_towel_10fps
• Derived dataset: CoRL2026-CSI/SO101-cap_fold_towel_10fps_stride9
• Frame stride: 9
• Source episodes: 0-99
• Generated with: scripts/tools/dataset/derive_subset_fps.py