LeRobot Shirt-Folding Dataset

LeRobot (Hugging Face) · 2026 · datasets.bot · datasets.bot page

One-liner. Bimanual t-shirt folding via teleoperation: 5,688 episodes / ~131h (plus a 1,200-ep high-quality subset), 3 cameras, LeRobot v3.0.

Setup

Datasets / benchmarks: The shirt-folding dataset from LeRobot's open-source 'Unfolding Robotics: Open-Source Shirt Folding from Data to Deployment' project, which trained a bimanual robot to fold t-shirts at a 90% success rate. Collected via real-world leader-follower teleoperation across 8 bimanual setups optimizing for diversity (25+ t-shirts, 8 backgrounds, varied camera/robot heights), structured as Level 1 (fold a laid-out shirt) and Level 2 (spread a crumpled shirt, fold, set aside). The full dataset has 5,688 episodes (~131h); a curated high-quality subset (lerobot/high_quality_folding) has 1,200 episodes (~30h). Each episode has 3 camera streams (base 480x640, two wrists 720x1280) and 16-dim joint+gripper states/actions, stored in LeRobotDataset v3.0 (video-encoded). License: Apache-2.0. Download: https://huggingface.co/datasets/lerobot/full_folding.
Hardware / simulator: Embodiment: parallel_jaw. Environment: home, tabletop. Realness: physical.

LeRobotDataset v3.0: 3 camera video streams (base 480x640 + 2 wrists 720x1280) + 16-dim (7 joints + gripper x2 arms) states & actions.