GalaxyGeneralRobotics/FoldNetXX

Dataset Card for FoldNet++ Dataset

This dataset is the official release of the FoldNet++ dataset.

Dataset Details

Dataset Description

This dataset contains ~120K synthetic demonstration episodes of robotic T-shirt folding and unfolding, as well as URDFs and pretrained checkpoints.

Each episode includes three camera views (5Hz) and an action trajectory (in both qpos and eef forms).

Dataset Sources

• Code: https://github.com/GalaxyGeneralRobotics/FoldNetXX
• Project: https://pku-epic.github.io/FoldNetXX/
• Paper: https://arxiv.org/abs/2609.12433

Uses

See the example code in the FoldNet++ repository.

BibTeX:

@inproceedings{
chen2026foldnetxx,
title={FoldNet++: a Large-Scale Synthetic Dataset for Robotic T-Shirt Folding and Unfolding},
author={Yuxing Chen and Zhiyuan Wei and Bowen Xiao and Zhizheng Zhang and He Wang},
booktitle={10th Annual Conference on Robot Learning},
year={2026},
url={https://openreview.net/forum?id=JMcC5JoPKD}
}