| --- |
| 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 |
|
|
| ```json |
| [ |
| "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: |
| |
| ```text |
| 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 |
|
|
| ```text |
| meta/info.json |
| meta/tasks.parquet |
| meta/episodes/chunk-000/file-000.parquet |
| data/chunk-000/file-*.parquet |
| episodes.csv |
| merge_summary.json |
| ``` |
|
|
