# 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

```bash
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.