Datasets:

jellyho
/

droid_merged_skills_pressing

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

Merged DROID Skill Dataset: pressing

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_pressing
Local merged dataset path: /scratch/jellyho/droid_merged_skills/pressing
Skill: pressing

Sources

[
  "jellyho/droid_subsets_pressing",
  "jellyho/droid_press_button"
]

source_dataset	episodes
jellyho/droid_subsets_pressing	300
jellyho/droid_press_button	20

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: 320
Frames: 61602
Unique tasks: 301
observation.state shape: [8]
action shape: [8]

Top Episode Task Strings

task	episodes
['Press the red button on the table']	20
['Push the button to release the toaster lever']	1
['Press a button on the washing machine on the right.']	1
['Press the orange button from the stove']	1
['Move the tap nozzle to the right then open it']	1
['Open the tap, pick up the green sponge and wet it with the running water, squeeze the green sponge four times and drop it into the sink']	1
['Press a button on the black speaker in front of the television.']	1
['Press down on the white and blue packet and put it in the trash chute on the left']	1
['Press a black key on the middle keys of the piano']	1
['Press the keys on the keyboard']	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