| --- |
| 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. |
| |
