metadata
license: other
pretty_name: OpenArm datasets (rlwrld, private)
huiwon/openarm_dataset — OpenArm LeRobot(v2.1) 모음 (2026-09-06 업로드)
robot/ = OpenArm 로봇 teleop (rh56f1 / inspire hand) — robot 값만. human/ = 사람 데모 — action 열 제거 (rlwrld_human 30-D wrist pose · junhyeong validation_v2 는 human→OpenArm retarget 이라 human 으로 분류, retarget action 미포함 · anyh2r 는 스테레오 mp4 클립만). 각 폴더는 LeRobot v2.1 (data/ meta/ videos/).
robot/banana_v21_openarm28 는 banana_v21 을 openarm 28-dim 표준(neck2|left_arm7|right_arm7|left_hand6|right_hand6, 미사용 0)으로 변환한 것 — videos 는 robot/banana_v21_myungkyu/videos 와 동일하므로 생략.
robot/openarm_teleop_v2 의 lerobot/task_1..3(256²) 와 old_ep1to3/task_1..3(224²) 는 같은 에피소드의 재인코딩본 (중복 주의).
| path | eps | frames | fps | robot_type | views × HWC | state dim |
|---|---|---|---|---|---|---|
robot/openarm_teleop_v3/bottle |
96 | 35506 | 20 | openarm_rh56f1 | 2 × [192, 256, 3] | [28] |
robot/openarm_teleop_v3/cup |
108 | 28757 | 20 | openarm_rh56f1 | 2 × [192, 256, 3] | [28] |
robot/openarm_teleop_v3/doll |
48 | 13414 | 20 | openarm_rh56f1 | 2 × [192, 256, 3] | [28] |
robot/openarm_teleop_v3/snack |
96 | 40184 | 20 | openarm_rh56f1 | 2 × [192, 256, 3] | [28] |
robot/openarm_teleop_v2/ep4/20260316_153324_lerobot |
11 | 6079 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/ep4/20260316_160035_lerobot |
73 | 40026 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/ep5/20260316_201516_lerobot |
15 | 11808 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/ep5/20260316_203841_lerobot |
25 | 16842 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/ep5/20260316_210314_lerobot |
23 | 15997 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/ep5/20260316_212759_lerobot |
11 | 8399 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/ep6/20260317_195902_lerobot |
25 | 7511 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/ep6/20260317_201936_lerobot |
8 | 2023 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/ep6/20260317_202447_lerobot |
40 | 12472 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/ep6_torque_test |
1 | 391 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/ep7/20260318_132250_lerobot |
37 | 10623 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/ep7/20260319_174635_lerobot |
38 | 18912 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/lerobot/task_1_pnp_flat_right_hand |
69 | 21997 | 20 | openarm_rh56f1 | 2 × [256, 256, 3] | [28] |
robot/openarm_teleop_v2/lerobot/task_2_pnp_flat_handover |
64 | 40240 | 20 | openarm_rh56f1 | 2 × [256, 256, 3] | [28] |
robot/openarm_teleop_v2/lerobot/task_3_pick_only |
64 | 13583 | 20 | openarm_rh56f1 | 2 × [256, 256, 3] | [28] |
robot/openarm_teleop_v2/lerobot/task_4_pnp_flat_right_hand_twice |
64 | 36829 | 20 | openarm_rh56f1 | 2 × [256, 256, 3] | [28] |
robot/openarm_teleop_v2/lerobot/task_5_pnp_flat_handover_twice |
64 | 46717 | 20 | openarm_rh56f1 | 2 × [256, 256, 3] | [28] |
robot/openarm_teleop_v2/lerobot/task_6_pnp_vertical_shelf |
64 | 19104 | 20 | openarm_rh56f1 | 2 × [256, 256, 3] | [28] |
robot/openarm_teleop_v2/lerobot/task_7_pnp_vertical_shelf_reverse |
64 | 25482 | 20 | openarm_rh56f1 | 2 × [256, 256, 3] | [28] |
robot/openarm_teleop_v2/old_ep1to3/20260313_105201_lerobot |
27 | 8973 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/old_ep1to3/20260313_113227_lerobot |
49 | 15383 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/old_ep1to3/20260313_122002_lerobot |
34 | 7276 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/old_ep1to3/20260313_124321_lerobot |
39 | 8918 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/old_ep1to3/20260313_213451_lerobot |
5 | 3267 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/old_ep1to3/20260313_214921_lerobot |
26 | 17315 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/old_ep1to3/20260313_222538_lerobot |
36 | 22124 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/old_ep1to3/task_1_pnp_flat_right_hand |
69 | 21997 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/old_ep1to3/task_2_pnp_flat_left_to_right_hand |
64 | 40240 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_teleop_v2/old_ep1to3/task_3_pnp_flat_pick_only |
65 | 13797 | 20 | openarm_rh56f1 | 2 × [224, 224, 3] | [28] |
robot/openarm_ego_jungwook |
151 | 58023 | 30 | openarm_rh56f1 | 2 × [192, 320, 3] | [28] |
robot/banana_v21_myungkyu |
54 | 16202 | 30 | openarm_inspire_right | 2 × [360, 640, 3] | [13] |
robot/banana_v21_openarm28 |
54 | 16202 | 30 | openarm_inspire_right_as_openarm28 | 2 × [360, 640, 3] | [28] |
robot/toilet_paper_jimin |
100 | 51852 | 30 | openarm_rh56f1_force_ego | 2 × [224, 224, 3] | [28] |
human/openarm_validation_v2_junhyeong/close_air_fryer |
52 | 12518 | 20 | openarm_inspire | 1 × [3, 224, 224] | [30] |
human/openarm_validation_v2_junhyeong/left_hand_box_white_container |
101 | 25362 | 20 | openarm_inspire | 1 × [3, 224, 224] | [30] |
human/openarm_validation_v2_junhyeong/open_air_fryer |
52 | 10751 | 20 | openarm_inspire | 1 × [3, 224, 224] | [30] |
human/rlwrld_human_lerobot |
479 | 69066 | 20 | openarm_inspire | 1 × [720, 1280, 3] | [30] |
| human/anyh2r | 561 (1122 clips) | 224,589 | 30 | human (stereo mp4, no state/action) | 2 × [720, 1280, 3] | — |