Datasets:
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
{
"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:
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:
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.