Datasets:
File size: 3,210 Bytes
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license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- DROID
- robotics
- skill-filtered
- stacking
configs:
- config_name: default
data_files: data/*/*.parquet
---
# DROID Skill Subset: stacking
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_stacking`
- Source dataset path used locally: `/scratch/jellyho/droid_1.0.1`
- Output subset path used locally: `/scratch/jellyho/droid_subsets/stacking`
## Filtering
```json
{
"skills": [
"stacking"
],
"skill_keywords": {
"stacking": [
"stack",
"on top",
"pile"
]
},
"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: `90123`
- Unique tasks: `300`
- Sampling mode: `balanced`
- Max episodes: `300`
- Seed: `0`
- Mean episode length: `300.41`
- Min/max episode length: `85` / `1026`
- Episode success rate: `0.9966666666666667`
## 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 |
| --- | --- |
| Stack the black pieces together | 1 |
| Remove some rubber bands from the plastic and put them on top of the white storage container. | 1 |
| Pick the red bowl from the top cabinet and put it on top of the microwave | 1 |
| Place the bowl on the left on top of the bowl on the right, put the two forks inside the top bowl | 1 |
| Put the blue-yellow building block on top of the orange building block | 1 |
| Stack up the white paper cups | 1 |
| Move the white bottle to the left and place it on top of the silver object | 1 |
| Stack the cups | 1 |
| Place the clear ring on the stack | 1 |
| Turn the blue legos with the green legos on the top anti clockwise then put the green legos on top of the same legos | 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.
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