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Datasets:
jellyho
/
droid_merged_skills_stacking

Tasks:
Robotics
Modalities:
Tabular
Text
Time-series
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
DROID
robotics
skill-filtered
merged
joint-velocity-action
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
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Upload merged DROID skill dataset

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README.md ADDED
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ - DROID
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+ - robotics
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+ - skill-filtered
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+ - merged
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+ - joint-velocity-action
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+ - gripper-position
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+ - stacking
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
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+ ---
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+
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+ # Merged DROID Skill Dataset: stacking
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+
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+ This dataset merges a language-filtered DROID skill subset with newly collected
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+ environment data for the same skill.
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+
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+ ## Repository
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+
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+ - Hugging Face repo: `jellyho/droid_merged_skills_stacking`
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+ - Local merged dataset path: `/scratch/jellyho/droid_merged_skills/stacking`
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+ - Skill: `stacking`
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+
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+ ## Sources
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+
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+ ```json
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+ [
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+ "jellyho/droid_subsets_stacking",
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+ "jellyho/droid_stack_bar"
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+ ]
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+ ```
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+
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+ | source_dataset | episodes |
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+ | --- | --- |
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+ | jellyho/droid_subsets_stacking | 300 |
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+ | jellyho/droid_stack_bar | 20 |
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+
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+ ## State And Action
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+
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+ The compact LeRobot training fields are standardized as 8D vectors:
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+
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+ ```text
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+ observation.state = [joint_position_0..6, gripper_position]
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+ action = [joint_velocity_0..6, gripper_position]
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+ ```
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+
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+ For original DROID subset rows, `action` is derived from
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+ `action.joint_velocity` plus `action.gripper_position`. For newly collected
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+ rows, `action` is derived from `observation.joint_velocities[:7]` plus the
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+ collected gripper position from the original `action` vector.
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+
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+ Detailed columns such as `action.joint_position`, `action.joint_velocity`,
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+ `action.gripper_position`, `observation.state.joint_position`, and
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+ `observation.state.gripper_position` remain available in the parquet files.
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+
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+ ## Dataset Statistics
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+
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+ - Episodes: `320`
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+ - Frames: `91911`
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+ - Unique tasks: `301`
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+ - `observation.state` shape: `[8]`
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+ - `action` shape: `[8]`
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+
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+ ## Top Episode Task Strings
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+
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+ | task | episodes |
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+ | --- | --- |
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+ | ['Put the yellow bar on top of the red cube'] | 20 |
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+ | ['Stack the cups from the top cup to the bottom cup'] | 1 |
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+ | ['Pick up the lid and place it on top of the blue pot.'] | 1 |
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+ | ['Move the white mug from on top of the paper towel to the counter'] | 1 |
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+ | ['Remove the cap from the door coat hanging hook and put it on top of the cabinet'] | 1 |
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+ | ['Stack the items on the tablecloth together.'] | 1 |
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+ | ['Fold the white cloth in half, pick up the white cloth and put it on top of the far right throw pillow'] | 1 |
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+ | ['Place the grey object at the top of the stack'] | 1 |
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+ | ['Stack the cups on the table'] | 1 |
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+ | ['Put the first towel on top of the backrest of the chair'] | 1 |
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+
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+ ## Files
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+
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+ ```text
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+ meta/info.json
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+ meta/tasks.parquet
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+ meta/episodes/chunk-000/file-000.parquet
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+ data/chunk-000/file-*.parquet
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+ episodes.csv
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+ merge_summary.json
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+ ```
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