datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
XDof-TshirtFolding-20hours-normalizedkoch-baby-tshirt-foldingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "bi_koch_follower",
"total_episodes": 7,
"total_frames": 10144,
"total_tasks": 1,
"total_videos": 14,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:7"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/Gongsta/koch-baby-tshirt-folding.trlc_tshirt_foldingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_dk1_follower",
"total_episodes": 532,
"total_frames": 1106053,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:532"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/Gongsta/trlc_tshirt_folding.T-shirt_dataset_20260830_154211This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"… See the full description on the dataset page: https://huggingface.co/datasets/KirillZubarev/T-shirt_dataset_20260830_154211.trlc_tshirt_folding_impedanceThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_dk1_follower",
"total_episodes": 4,
"total_frames": 9890,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:4"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/Gongsta/trlc_tshirt_folding_impedance.trlc_tshirt_folding_robometer_laundromat_fold_20260314
Robometer Annotations Dataset
This dataset contains one Robometer annotation bundle per episode.
Files
episodes/episode_000000.npz: Per-episode arrays aligned to the original frame indices
episodes.parquet: One manifest row per episode, including episode_index
episodes.jsonl: The same manifest in JSONL format
run_metadata.json: Run-level metadata and export settings
Usage
import numpy as np
import pandas as pd
from huggingface_hub import hf_hub_download… See the full description on the dataset page: https://huggingface.co/datasets/djkesu/trlc_tshirt_folding_robometer_laundromat_fold_20260314.mobile-baseoff-tshirt-folding-lerobot-V3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_widowxai_follower_robot",
"total_episodes": 101,
"total_frames": 155841,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:101"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/TrossenRoboticsCommunity/mobile-baseoff-tshirt-folding-lerobot-V3.bimanual-so101-fold-tshirtThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_two_followers",
"total_episodes": 5,
"total_frames": 11454,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:5"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/NeuroTo/bimanual-so101-fold-tshirt.T_shirt_raw_tactileThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Inspire",
"total_episodes": 20,
"total_frames": 6200,
"total_tasks": 1,
"total_videos": 40,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:20"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/eunjuri/T_shirt_raw_tactile.tshirt-folding
T-Shirt Folding Mixed Manifest
This repo is a lightweight manifest for a public T-shirt folding collection built from five source datasets:
Gongsta/trlc_tshirt_folding
Gongsta/trlc_tshirt_folding_impedance
Gongsta/dagger_dk1_tshirt_corrections
Gongsta/krish-simpler-tshirt
Gongsta/e7-tshirt-folding
The goal is to provide one clean public entrypoint while preserving each source dataset at its highest native frame rate.
Project Background
This dataset card was created… See the full description on the dataset page: https://huggingface.co/datasets/djkesu/tshirt-folding.T-SHIRT
T-SHIRT: Token-Selective Hierarchical Data Selection for Instruction Tuning
Yanjun Fu, Faisal Hamman, Sanghamitra Dutta
[📖 Paper]
Overview
Abstract
Instruction tuning is essential for Large Language Models (LLMs) to effectively follow user instructions. To improve training efficiency and reduce data redundancy, recent works use LLM-based scoring functions, e.g., Instruction-Following Difficulty (IFD), to select high–quality instruction-tuning data with scores above a… See the full description on the dataset page: https://huggingface.co/datasets/formal-umd/T-SHIRT.takeoff-tshirtThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 107,
"total_frames": 77063,
"total_tasks": 3,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:107"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/leledeyuan/takeoff-tshirt.dagger_dk1_tshirt_correctionsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_dk1_follower",
"total_episodes": 212,
"total_frames": 111888,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:212"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/Gongsta/dagger_dk1_tshirt_corrections.flatten-tshirt
flatten_tshirt — bimanual t-shirt flattening
A dual-arm Piper flattens a crumpled t-shirt on a table. Success combines a coverage signal (catches 'still crumpled') with a shape-distance signal against a canonical flat pose (catches 'spread out but still folded').
Part of a bimanual deformable-object (cloth / bag) manipulation benchmark. Physics is a GPU
cloth solver co-simulated with the robot in a single model; observations are rendered with a
photorealistic renderer.… See the full description on the dataset page: https://huggingface.co/datasets/deformable-bench/flatten-tshirt.aloha_fold_tshirtThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 21,
"total_frames": 24918,
"total_tasks": 1,
"total_videos": 63,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:21"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/TrossenRoboticsCommunity/aloha_fold_tshirt.bimanual-so101-fold-tshirtThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "so101_two_followers",
"total_episodes": 5,
"total_frames": 11454,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:5"},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/SimKienTech/bimanual-so101-fold-tshirt.tshirt-folding-mobile-stationaryThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_widowxai_follower_robot",
"total_episodes": 101,
"total_frames": 155841,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:101"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/hamza-trossen/tshirt-folding-mobile-stationary.fold_tshirtThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 22,
"total_frames": 67200,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:22"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/vo2yager/fold_tshirt.fold_tshirt_side_200_0723
Fold T-Shirt Side 200 (2026-07-23)
LeRobot v3 dataset collected in SynReal World for the fold_tshirt_side task.
Episodes: 200
Frames: 186,123
FPS: 25
Resolution: 1280x720
Cameras: static, left wrist, right wrist
Robot state/action dimension: 14
Collection seeds: 10000-10007
Episode IDs: 0-199
Source image revision: e77429e75e14ff48f7e2f0cc02bf878bfc0d8340
Source image: deformable_bench:1.0-e77429e
Collection used --keep-failed; all 200 generated trajectories are retained.
The… See the full description on the dataset page: https://huggingface.co/datasets/deformable-bench/fold_tshirt_side_200_0723.t-shirt_pick_and_place_cleanThis dataset was created using LeRobot.
Dataset Description
A filtered version of nepyope/t-shirt_pick_and_place
containing only the episodes that a human reviewer did not mark as failed.
47 episodes / 101,254 frames kept (from 79 episodes / 167,887 frames)
32 episodes dropped
Episodes are renumbered 0..46; all other fields, features and encoder settings are unchanged.
Statistics in meta/stats.json are recomputed over the kept episodes only.
Dropped episodes… See the full description on the dataset page: https://huggingface.co/datasets/nepyope/t-shirt_pick_and_place_clean.takeoff-tshirt-modified-phaseThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 106,
"total_frames": 76895,
"total_tasks": 3,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:106"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/leledeyuan/takeoff-tshirt-modified-phase.tshirt_folding_collectionkoch-tshirt-folding-v3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_koch_follower",
"total_episodes": 205,
"total_frames": 235772,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:205"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/Gongsta/koch-tshirt-folding-v3.trlc_tshirt_folding_robometer_laundromat_fold_20260314_fixed128
Robometer Annotations Dataset
This dataset contains one Robometer annotation bundle per episode.
Files
episodes/episode_000000.npz: Per-episode arrays aligned to the original frame indices
episodes.parquet: One manifest row per episode, including episode_index
episodes.jsonl: The same manifest in JSONL format
run_metadata.json: Run-level metadata and export settings
Usage
import numpy as np
import pandas as pd
from huggingface_hub import hf_hub_download
#… See the full description on the dataset page: https://huggingface.co/datasets/djkesu/trlc_tshirt_folding_robometer_laundromat_fold_20260314_fixed128.krish-simpler-tshirtThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_dk1_follower",
"total_episodes": 101,
"total_frames": 145013,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:101"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/Gongsta/krish-simpler-tshirt.mnist-with-tshirtkoch-tshirt-pickplace-v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_koch_follower",
"total_episodes": 41,
"total_frames": 8789,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:41"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/Gongsta/koch-tshirt-pickplace-v2.t-shirt_pick_and_placeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 50,
"features": {
"observation.images.ego_view": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {… See the full description on the dataset page: https://huggingface.co/datasets/nepyope/t-shirt_pick_and_place.koch-tshirt-folding-v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "bi_koch_follower",
"total_episodes": 53,
"total_frames": 63038,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:53"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/Gongsta/koch-tshirt-folding-v2.hanging-tshirtThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 105,
"total_frames": 81435,
"total_tasks": 5,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:105"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/leledeyuan/hanging-tshirt.