README.md

metadata

license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - DROID
  - robotics
  - skill-filtered
  - picking
configs:
  - config_name: default
    data_files: data/*/*.parquet

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.