openarm_moving_banana_21episodes

Teleoperated demonstrations of a moving-target pick-and-place: the banana is displaced by a human while the robot is reaching for it, so the policy cannot rely on the object staying where it was first seen.

Task string (all episodes): pick up moving banana and put it in box

Recorded 2026-08-31, 18:40–18:59 KST, on the VCLab OpenArm rig. LeRobot v2.1, robot_type: openarm_rh56f1.

Episodes	21
Frames	18,536
FPS	20
Duration	15.4 min
Episode length	247–1288 frames (12.3–64.4 s), median 908
Dropped ticks	0
Size	279 MB

Cameras

Four video streams, all 640×360 h264 @ 20 fps, resampled from their native rates.

Key	Device	Serial	Native
observation.images.head	ZED 2i	36150681	HD720 @ 30
observation.images.external	ZED 2i	38895052	HD720 @ 30
observation.images.chest	ZED-M	15200224	HD720 @ 30
observation.images.wristcam_right	RealSense D405	409122274081	640×360 @ 30

Video frame counts match parquet row counts exactly on all 21 episodes.

State and action

observation.state and action are both 46-dimensional, same column order:

Columns	Group
0–1	head pitch, yaw
2–8	left arm joint1–7
9–14	left hand (thumb_1, thumb_2, index_1, middle_1, ring_1, little_1)
15–21	right arm joint1–7
22–27	right hand
28–36	left eef (x, y, z, r11, r12, r13, r21, r22, r23)
37–45	right eef

Three things to know before you train on this

1. The arms' joint action is the measured state, not a command. Teleop commands a Cartesian pose and the IK runs inside the controller, so no joint-space command exists to record. For left_arm and right_arm, action[t] == state[t] exactly, on 100% of frames. The eef columns (28–45) carry the real operator command, and the hand columns carry the real commanded grip. Train on eef, or on hands, or accept that the arm joint targets are a copy of the observation. Every episode declares this in meta/episodes.jsonl under vclab.action_source.

2. The head columns (0–1) are zeros. The head was not instrumented on this rig; the head camera is present, the head joint angles are not.

3. Only the right side moves. The left arm drifts 0.03 rad median across a whole episode (parked), and the left hand is identically zero. Right arm travels ~2.2 rad and the right hand ~1.1 rad per episode. This is a right-arm-only dataset with a left arm along for the ride.

Provenance

Built by voc/episode/lerobot_writer.py in vclab_openarm_control as each episode closed during the teleop session — not re-exported afterwards. Raw session directories are assets/teleop/moving_banana/000–020.