Datasets
The recorded SO-100 teleop data is not stored in git. It lives on the Hugging Face Hub:
https://huggingface.co/datasets/PrajnaYang/World_model_sim
Download
pip install "huggingface_hub[cli]"
# fetch everything into ./datasets/
hf download PrajnaYang/World_model_sim --repo-type dataset --local-dir datasets
Layout
datasets/
├── raw/ recorded teleop episodes (per task)
│ ├── single_cube/{teleop,dagger}
│ └── multi_cube/teleop
└── processed/ zarr stores consumed by the training scripts
├── single_cube/*.zarr
└── multi_cube/*.zarr
After downloading, python scripts/prepare_data.py verifies the data + sim.