Datasets:
is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringclasses 300
values | language_instruction_2 stringclasses 292
values | language_instruction_3 stringclasses 293
values | observation.state.gripper_position float32 0 1 | observation.state.cartesian_position listlengths 6 6 | observation.state.joint_position listlengths 7 7 | observation.state listlengths 8 8 | action.gripper_position float32 0 1 | action.gripper_velocity float32 -1 1 | action.cartesian_position listlengths 6 6 | action.cartesian_velocity listlengths 6 6 | action.joint_position listlengths 7 7 | action.joint_velocity listlengths 7 7 | action.original listlengths 7 7 | action listlengths 8 8 | discount float32 1 1 | reward float32 0 1 | task_category stringclasses 42
values | building stringclasses 42
values | collector_id stringclasses 51
values | date stringclasses 51
values | camera_extrinsics.wrist_left listlengths 6 6 | camera_extrinsics.exterior_1_left listlengths 6 6 | camera_extrinsics.exterior_2_left listlengths 6 6 | is_episode_successful bool 1
class | timestamp float32 0 96.6 | frame_index int64 0 1.45k | episode_index int64 0 299 | index int64 0 88.1k | task_index int64 0 299 |
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] | 1 | 0 | 2479 Richard Ct | 2479 Richard Ct | 52ca9b6a | 52ca9b6a | [
0.31110239028930664,
-0.20014624297618866,
0.4363577365875244,
2.602142572402954,
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0.5553393959999084,
-1.7695823907852173,
-0.01210493128746748,
-1.0608655214309692
] | true | 4.866667 | 73 | 0 | 73 | 1 |
false | false | false | Remove the purple marker from the box and put it on the counter | Move a black marker from the drawer to the countertop | Remove the purple marker from the open drawer and put it on the counter | 0.101322 | [
0.39167723059654236,
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] | 0.435022 | 1 | [
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] | 1 | 0 | 2479 Richard Ct | 2479 Richard Ct | 52ca9b6a | 52ca9b6a | [
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End of preview. Expand in Data Studio
DROID Skill Subset: picking
This is a skill-filtered subset of the local DROID 1.0.1 LeRobot-format dataset.
It was generated with droid_filter.py from /scratch/jellyho/prsl_skills.
Repository
- Hugging Face repo:
jellyho/droid_subsets_picking - Source dataset path used locally:
/scratch/jellyho/droid_1.0.1 - Output subset path used locally:
/scratch/jellyho/droid_subsets/picking
Filtering
{
"skills": [
"picking"
],
"skill_keywords": {
"picking": [
"pick",
"pick up",
"grab",
"grasp",
"take",
"lift",
"remove"
]
},
"queries": [],
"exclude": [],
"regex": false,
"match_all": false,
"min_length": null,
"max_length": null,
"max_episodes": 300,
"sample_mode": "balanced",
"seed": 0
}
Dataset Statistics
- Episodes:
300 - Frames:
88076 - Unique tasks:
300 - Sampling mode:
balanced - Max episodes:
300 - Seed:
0 - Mean episode length:
293.58666666666664 - Min/max episode length:
85/1450 - Episode success rate:
1.0
Preserved Action Fields
Filtering only selects episodes/rows. It does not drop action-space columns. The following action columns are preserved from the original DROID parquet files:
action.gripper_position
action.gripper_velocity
action.cartesian_position
action.cartesian_velocity
action.joint_position
action.joint_velocity
action.original
action
action is the compact 8D policy action used by LeRobot-style loaders. The
additional action.* columns remain available in the parquet files for
inspection or custom loaders.
Top Tasks
| task_text | episodes |
|---|---|
| Take the utensils out of the weaved basket | 1 |
| Remove the purple marker from the box and put it on the counter | 1 |
| Pick up the white remote and move it to the right | 1 |
| Remove the plastic spoon from the small mug and put it on the counter | 1 |
| Pick the fork and put it in the drawer | 1 |
| Remove the glass lid from the black pot | 1 |
| Take the lid off the pot | 1 |
| Pick up the brown and yellow medicine bottle from the orange plastic and put it on the table | 1 |
| Take the spray bottle in the box and put it on the table | 1 |
| Take the strawberry off of the tray | 1 |
Files
This repository keeps the LeRobot-style layout:
meta/info.json
meta/tasks.parquet
meta/episodes/chunk-000/file-000.parquet
data/chunk-000/file-*.parquet
episodes.csv
episodes.jsonl
summary.json
stats.json
task_counts.csv
length_histogram.csv
source_episode_files.csv
The subset keeps compact episode_index, task_index, and index values for
loader compatibility. episodes.csv keeps original_episode_index for tracing
rows back to the original DROID dataset when available.
Notes
Video files are not included unless explicitly materialized with video symlinks or copies. These subsets are intended for lightweight skill-conditioned fine-tuning experiments.
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