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huiwon
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openarm_dataset

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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] | — |

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