---
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
```