---
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

```json
{
  "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:

```text
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:

```text
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.