Cloth Folding Dataset for X VLA Paper This dataset contains 1,500 episodes of cloth folding, collected using Agilex's robotic arm. It was used in the X VLA paper for cloth folding tasks, showcasing a near perfect success rate in folding accuracy. Dataset Overview Total Episodes: ～1,500 Task: Automated cloth folding Robot: Agilex Aloha Performance: Near 100% success rate in completing the folding task Hardware setup We observed that the camera setup of the official Agilex Aloha platform is positioned relatively low, which prevents it from capturing the full cloth folding process, where many frames fail to include the robot arms. To address this issue, we modified the camera setup accordingly. You can find the .stl , .step , .sldprt files of our new camera mount, which can be used for 3D printing. The installation instruction can be found in the camera mount install.md . Usage You can find .hdf5 and .mp4 files in each directory. The .mp4 files are just used for visulization and are not used for training. The .hdf5 files contains all necessary keys and data, including: HDF5 file hierarchy How to read the hdf5 file: Visualize the data You can find some dictionary have .mp4 file for vis…
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