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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
true | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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] | 1 | 0 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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] | 1 | 0 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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] | 1 | 0 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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] | 1 | 0 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
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] | true | 0.333333 | 5 | 0 | 5 | 0 |
false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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] | true | 0.4 | 6 | 0 | 6 | 0 |
false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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End of preview. Expand in Data Studio
Merged DROID Skill Dataset: wiping
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_wiping - Local merged dataset path:
/scratch/jellyho/droid_merged_skills/wiping - Skill:
wiping
Sources
[
"jellyho/droid_subsets_wiping",
"jellyho/droid_wipe_table"
]
| source_dataset | episodes |
|---|---|
| jellyho/droid_subsets_wiping | 300 |
| jellyho/droid_wipe_table | 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:
120184 - Unique tasks:
300 observation.stateshape:[8]actionshape:[8]
Top Episode Task Strings
| task | episodes |
|---|---|
| ['Use the towel to wipe the table.'] | 21 |
| ['Take the towel and clean the right part of the table'] | 1 |
| ['Use the left towel farthest from you to wipe the pan'] | 1 |
| ['Pick up the brush from the table and sweep the paper pieces.'] | 1 |
| ['Remove the wipe from the roll and put it on the left'] | 1 |
| ['Pick up the white cloth out of the basket and wipe the table with it'] | 1 |
| ['Use the green hand broom to sweep the top of the left washing machine'] | 1 |
| ['Clean the plate with the sponge'] | 1 |
| ['Use the blue cloth to wipe the white plate'] | 1 |
| ['Put the brush in the blue bowl'] | 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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