Whalswp/Stage2_Kuavo5

Stage 2 - Kuavo 5 Body

LeRobot-format dataset used for RwH-Kuavo V2 Stage 2 training.

Dataset summary

Field	Value
Robot	kuavo-5
Tasks	Supermarket replenishment; Supermarket shelf stocking
Tasks / episodes / frames	2 / 1,093 / 260,243
FPS / duration	10 FPS / about 7.23 h
State	float32[16]
Action	float32[16]
Cameras	head_cam_h, wrist_cam_l, wrist_cam_r (3x480x848)
Training	2 epochs, 4,067 optimizer steps, global batch 128
Resulting model	Whalswp/Kuavo-N1.5_Stage2

State and action order:

zarm_l1_link ... zarm_l7_link, left_claw, zarm_r1_link ... zarm_r7_link, right_claw

Only arm + claw are model-facing targets. Head, waist, and legs are excluded.

Repository structure

data/
  chunk-000/file-000.parquet
meta/
  episodes/chunk-000/file-000.parquet
  info.json
  stats.json
  tasks.parquet
videos/
  observation.images.head_cam_h/chunk-000/*.mp4
  observation.images.wrist_cam_l/chunk-000/*.mp4
  observation.images.wrist_cam_r/chunk-000/*.mp4

This is the corrected Kuavo 5 Body dataset. It supersedes the earlier mixed Kuavo 5 + 5W Stage 2 dataset.