---
license: mit
task_categories:
- robotics
tags:
- LeRobot
- SO-100
- robotics
- towel-folding
- imitation-learning
size_categories:
- n<1K
---

# 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 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 |

## Usage

```python
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset(repo_id="xenorobotics/towel-fold-trimmed-v21")
```

## License

MIT License