README.md

---
license: apache-2.0
task_categories:
  - robotics
tags:
  - robotics
  - imitation-learning
  - lerobot
  - openarm
  - speedup
configs:
  - config_name: default
    data_files: data/chunk-*/*.parquet
---

# openarm_shirt_folding_100_2x_speedup

A 2x sped-up copy of the [TobiBrtnr/openarm_shirt_folding_100](https://huggingface.co/datasets/TobiBrtnr/openarm_shirt_folding_100) LeRobot dataset.

The original was recorded at 30 Hz. This dataset keeps the original fps, so playing it back at the same rate is 2x faster. It was produced with pairs (o_{2*i}, a_{2*i + 1}): the observation of every second timestep paired with the action of the dropped timestep.

The gripper is excluded from the speedup: frames within 5 frames before and 5 frames after each detected gripper event (the finger joint action jumping by more than 0.01 between consecutive frames) are kept at original speed, so the approach and settle around gripper movements stay slow and precise.

## Provenance

- Source dataset: [TobiBrtnr/openarm_shirt_folding_100](https://huggingface.co/datasets/TobiBrtnr/openarm_shirt_folding_100)
- Generated by: [`speedup_dataset.py`](https://github.com/TNG/workshop-robotics/blob/main/lerobot/tng_lerobot/speedup_dataset.py) in the [workshop-robotics](https://github.com/TNG/workshop-robotics) repository, run as:

```bash
python -m tng_lerobot.speedup_dataset \
    --dataset-name TobiBrtnr/openarm_shirt_folding_100 --speedup 2
```