Datasets:
is_first bool | is_last bool | is_terminal bool | language_instruction string | language_instruction_2 string | language_instruction_3 string | observation.state.gripper_position float32 | observation.state.cartesian_position list | observation.state.joint_position list | observation.state list | action.gripper_position float32 | action.gripper_velocity float32 | action.cartesian_position list | action.cartesian_velocity list | action.joint_position list | action.joint_velocity list | action.original list | action list | discount float32 | reward float32 | task_category string | building string | collector_id string | date string | camera_extrinsics.wrist_left list | camera_extrinsics.exterior_1_left list | camera_extrinsics.exterior_2_left list | is_episode_successful bool | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
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End of preview. Expand in Data Studio
Merged DROID Skill Dataset: stacking
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_stacking - Local merged dataset path:
/scratch/jellyho/droid_merged_skills/stacking - Skill:
stacking
Sources
[
"jellyho/droid_subsets_stacking",
"jellyho/droid_stack_bar"
]
| source_dataset | episodes |
|---|---|
| jellyho/droid_subsets_stacking | 300 |
| jellyho/droid_stack_bar | 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:
91911 - Unique tasks:
301 observation.stateshape:[8]actionshape:[8]
Top Episode Task Strings
| task | episodes |
|---|---|
| ['Put the yellow bar on top of the red cube'] | 20 |
| ['Stack the cups from the top cup to the bottom cup'] | 1 |
| ['Pick up the lid and place it on top of the blue pot.'] | 1 |
| ['Move the white mug from on top of the paper towel to the counter'] | 1 |
| ['Remove the cap from the door coat hanging hook and put it on top of the cabinet'] | 1 |
| ['Stack the items on the tablecloth together.'] | 1 |
| ['Fold the white cloth in half, pick up the white cloth and put it on top of the far right throw pillow'] | 1 |
| ['Place the grey object at the top of the stack'] | 1 |
| ['Stack the cups on the table'] | 1 |
| ['Put the first towel on top of the backrest of the chair'] | 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
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