Datasets:

jellyho
/

droid_merged_skills_stacking

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

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.state shape: [8]
action shape: [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