Datasets:

jellyho
/

droid_merged_skills_picking

license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - DROID
  - robotics
  - skill-filtered
  - merged
  - joint-velocity-action
  - gripper-position
  - picking
configs:
  - config_name: default
    data_files: data/*/*.parquet

Merged DROID Skill Dataset: picking

This dataset merges a language-filtered DROID skill subset with newly collected environment data for the same skill.

Repository

Hugging Face repo: jellyho/droid_merged_skills_picking
Local merged dataset path: /scratch/jellyho/droid_merged_skills/picking
Skill: picking

Sources

[
  "jellyho/droid_subsets_picking",
  "jellyho/droid_pick_carrot"
]

source_dataset	episodes
jellyho/droid_subsets_picking	300
jellyho/droid_pick_carrot	21

State And Action

The compact LeRobot training fields are standardized as 8D vectors:

observation.state = [joint_position_0..6, gripper_position]
action            = [joint_velocity_0..6, gripper_position]

For original DROID subset rows, action is derived from action.joint_velocity plus action.gripper_position. For newly collected rows, action is derived from observation.joint_velocities[:7] plus the collected gripper position from the original action vector.

Detailed columns such as action.joint_position, action.joint_velocity, action.gripper_position, observation.state.joint_position, and observation.state.gripper_position remain available in the parquet files.

Dataset Statistics

Episodes: 321
Frames: 89507
Unique tasks: 301
observation.state shape: [8]
action shape: [8]

Top Episode Task Strings

task	episodes
['pick up the carrot']	21
['Take the blue pan out of the sink and put it in the dish rack']	1
['Pick up the purple plush toy from the sink and put it in the pot']	1
['Pick up the lid from the table and close the bottle']	1
['Pick the silver lid and put it on the table']	1
['Pick up the black remote controller on the left sofa seat and put it on the chair seat that is on top of the left sofa seat']	1
['Pick up the white object on the towel and place it on the left']	1
['Pick up the light green ring and put it in the wooden tray']	1
['Remove the spatula from the open drawer and put it on the stove']	1
['Pick up the marker from the cup and put it on the table']	1

Files

meta/info.json
meta/tasks.parquet
meta/episodes/chunk-000/file-000.parquet
data/chunk-000/file-*.parquet
episodes.csv
merge_summary.json