Whalswp/Stage3_Kuavo5w

Stage 3 - Kuavo 5W Box

LeRobot-format dataset used for RwH-Kuavo V2 Stage 3 training.

Dataset summary

Field	Value
Robot	kuavo-5w
Task	Box depalletizing and transfer
Tasks / episodes / frames	1 / 99 / 8,938
FPS / duration	10 FPS / about 0.25 h
State	float32[16]
Action	float32[16]
Cameras	head_cam_h, wrist_cam_l, wrist_cam_r (3x480x848)
Training	10 epochs, 699 optimizer steps, global batch 128
Resulting model	Whalswp/Kuavo-N1.5_Stage3

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
images/
  observation.images.head_cam_h/       # empty in the converted source
  observation.images.wrist_cam_l/      # empty in the converted source
  observation.images.wrist_cam_r/      # empty in the converted source
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

The .gitkeep files under images/ only preserve the empty source directory layout; camera observations are stored in videos/.