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Datasets:
InternRobotics
/
Sim1_Dataset

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Languages:
English
Size:
1M - 10M
ArXiv:
Tags:
lerobot
embodied-ai
robotic-manipulation
imitation-learning
License:
Dataset card Data Studio Files
xet
 Community
1

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Sim1_Dataset

LeRobot-format manipulation dataset for cloth folding / deformable object tasks.

Format

This repository follows a LeRobot-style layout per subset:

  • data/chunk-xxx/episode_XXXXXX.parquet: frame-level trajectories
  • videos/chunk-xxx/images.rgb.{head,hand_left,hand_right}/episode_XXXXXX.mp4: multi-view videos
  • meta/episodes.jsonl, meta/episodes_stats.jsonl, meta/tasks.jsonl, meta/info.json: episode/task metadata

The Dataset Viewer is configured from the parquet files in each subset via the configs.data_files section above.

Subsets (configs)

  • real_three_fold
  • scale_fold_mat
  • scale_shorts
  • scale_fold_shirt_in_domain
  • scale_fold_shirt_randomtexture
  • scale_fold_shirt_randpos

Notes

  • Primary supervised signal is from parquet trajectories.
  • MP4 files are provided for visualization and replay.
  • If access is gated, file listing is visible but content requires accepted access conditions.

📚 Citation

If you find this work useful, please cite:

SIM1 (arXiv:2604.08544)

https://arxiv.org/abs/2604.08544
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