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droid_1.0.1

Tasks:
Robotics
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@@ -1,481 +1,26 @@
1
  ---
2
- license: apache-2.0
3
- task_categories:
4
- - robotics
5
  tags:
6
  - LeRobot
7
- configs:
8
- - config_name: default
9
- data_files: data/*/*.parquet
10
  ---
11
 
12
- This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
13
-
14
- ## Dataset Description
15
-
16
-
17
-
18
- - **Homepage:** [More Information Needed]
19
- - **Paper:** [More Information Needed]
20
- - **License:** apache-2.0
21
-
22
- ## Dataset Structure
23
-
24
- [meta/info.json](meta/info.json):
25
- ```json
26
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- }
471
- }
472
- ```
473
 
 
474
 
475
- ## Citation
 
 
 
 
 
 
 
 
476
 
477
- **BibTeX:**
 
478
 
479
- ```bibtex
480
- [More Information Needed]
481
- ```
 
1
  ---
 
 
 
2
  tags:
3
  - LeRobot
4
+ - droid
5
+ task_categories:
6
+ - robotics
7
  ---
8
 
9
+ # DROID 1.0.1 with delta-EE actions and gripper-event timings
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
10
 
11
+ `lerobot/droid_1.0.1` with five added per-frame features:
12
 
13
+ - `action.delta_ee` — `[x, y, z, roll, pitch, yaw, gripper]` (float32): per-step
14
+ delta EE command: position delta of `action.cartesian_position` vs
15
+ `observation.state.cartesian_position`, and the relative rotation
16
+ `R_cmd * R_state^-1` (world frame) as extrinsic-xyz Euler (gimbal-safe, unlike
17
+ elementwise rpy subtraction); gripper is the absolute command (0..1, 1 = close).
18
+ - `observation.gripper.time_to_close` / `time_to_open` — hindsight seconds until the
19
+ gripper command next flips (threshold 0.5, runs < 3 steps debounced).
20
+ - `observation.gripper.time_since_close` / `time_since_open` — seconds since the
21
+ previous flip. Frames with no such flip in the episode hold the sentinel `10000`.
22
 
23
+ The `delta-ee` branch additionally swaps the flat `action` column to the delta-EE
24
+ values (joint-position actions live on `main`).
25
 
26
+ Generated by `lerobot_policy_framepick/scripts/augment_droid_delta_ee_gripper_events.py`.
 
 
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