---
license: cc-by-4.0
task_categories:
  - robotics
tags:
  - LeRobot
  - robotics
  - manipulation
  - bimanual
  - dexterous
  - tactile
  - origami
size_categories:
  - n<1K
---

# Robotic Origami Challenge — Unified LeRobot v3.0

A single, ready-to-train **LeRobot v3.0** dataset of real-world bimanual dexterous
**paper-airplane folding** (robot type `north_ces`, Sharpa Hands), consolidated from
the per-season releases of the [Robotic Origami Challenge](https://robotic-origami-challenge.github.io/).

> **Provenance.** The upstream release ships as **46 separate per-season datasets**,
> each a self-contained v3.0 tree whose episode/frame/file indices restart at 0, plus a
> redundant v2.1 copy. This repo merges all `lerobot3.0` season trees into **one** unified,
> globally-indexed v3.0 dataset. The v2.1 copies are intentionally excluded (same
> trajectories, different encoding). No video re-encoding was performed.
> Original data © **Sharpa** — https://www.sharpa.com/ — released under CC-BY-4.0.

## Summary

| | |
| --- | --- |
| Format | LeRobot **v3.0** |
| Robot | `north_ces` — bimanual arms + Sharpa dexterous hands |
| Episodes | **595** |
| Frames | **4,091,138** |
| Duration | **37.88 h** @ 30 fps |
| Task | 1 — *"north ces task"* (fold a paper airplane) |
| Source seasons | 46 |
| Cameras | 6 synchronized streams |
| On disk | ~459 GB |

Episode length: 174.8 s min / 229.2 s mean / 418.0 s max.

## Features

| Key | Type | Shape | Notes |
| --- | --- | --- | --- |
| `observation.state` | float32 | (65,) | left arm 7 + left hand 22 + right arm 7 + right hand 22 + motor 7 |
| `action` | float32 | (65,) | same joint layout |
| `observation.state.joint_torque` | float32 | (65,) | joint torques |
| `observation.state.tcp` | float32 | (24,) | left pose6+forces6, right pose6+forces6 — **all-zero** (never populated upstream) |
| `observation.tactile` | float32 | (60,) | 2 hands × 5 fingers × 6-axis (fx,fy,fz,tx,ty,tz) |
| `observation.images.head_left` | video | 480×480 | |
| `observation.images.head_right` | video | 480×480 | |
| `observation.images.wrist_left` | video | 480×480 | |
| `observation.images.wrist_right` | video | 480×480 | |
| `observation.images.tactile_deform` | video | 480×1200 | tactile deformation view |
| `observation.images.tactile_raw` | video | 480×1600 | raw tactile view |

**Known quirks.**
- `observation.state.tcp` is **exactly zero** across all 4,091,138 frames. Verified against
  the upstream v2.1 copies (also zero where present) — this is an upstream recording gap,
  **not** a conversion loss.
- Video files are a **mix of AV1 and H.264** (~907 AV1 / ~766 H.264). `info.json` labels them
  all `av1`; readers detect the real codec, so this is cosmetic. All files decode and every
  frame dimension is correct.

## Usage

```python
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset("iris-kaist/origami-v3-merged")
print(ds.num_episodes, ds.num_frames)
print(ds[0].keys())
```

## How it was merged

Per season, in global order: episodes renumbered 0→594 and frames 0→4,091,137; data-parquet
`index`/`episode_index` columns rewritten; episode-metadata data/video pointers remapped; videos
carried over verbatim (no re-encode); `meta/stats.json` recomputed as a count-weighted aggregate
of the per-season stats. 15/16 structural integrity checks pass (the 16th is the cosmetic codec
label above).

## License & attribution

Released under **CC-BY-4.0**, following the upstream Sharpa release. If you use this data, please
credit **Sharpa** and the **Robotic Origami Challenge**.