---
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] | — |