Datasets:
is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringclasses 300
values | language_instruction_2 stringclasses 292
values | language_instruction_3 stringclasses 295
values | observation.state.gripper_position float32 -0 1 | observation.state.cartesian_position listlengths 6 6 | observation.state.joint_position listlengths 7 7 | observation.state listlengths 8 8 | action.gripper_position float32 0 1 | action.gripper_velocity float32 -1 1 | action.cartesian_position listlengths 6 6 | action.cartesian_velocity listlengths 6 6 | action.joint_position listlengths 7 7 | action.joint_velocity listlengths 7 7 | action listlengths 8 8 | discount float32 1 1 | reward float32 0 1 | task_category stringclasses 40
values | building stringclasses 40
values | collector_id stringclasses 44
values | date stringclasses 44
values | camera_extrinsics.wrist_left listlengths 6 6 | camera_extrinsics.exterior_1_left listlengths 6 6 | camera_extrinsics.exterior_2_left listlengths 6 6 | is_episode_successful bool 1
class | timestamp float32 0 68.3 | frame_index int64 0 683 | episode_index int64 0 318 | index int64 0 61.5k | task_index int64 0 300 | prompt stringclasses 300
values |
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End of preview. Expand in Data Studio
Merged DROID Skill Dataset: stacking
This dataset merges a language-filtered DROID skill subset with newly collected environment data for the same skill.
Repository
- Hugging Face repo:
jellyho/droid_merged_skills_stacking - Local merged dataset path:
/scratch/jellyho/droid_merged_skills_v21/stacking - Skill:
stacking - LeRobot codebase version:
v2.1
Sources
[
"jellyho/droid_subsets_stacking",
"jellyho/droid_stack_bar"
]
| source_dataset | episodes |
|---|---|
| jellyho/droid_subsets_stacking | 299 |
| jellyho/droid_stack_bar | 20 |
State And Action
The compact LeRobot training fields are standardized as 8D vectors:
observation.state = [joint_position_0..6, gripper_position]
action = [joint_velocity_0..6, gripper_position]
For original DROID subset rows, action is derived from
action.joint_velocity plus action.gripper_position. For newly collected
rows, action is derived from observation.joint_velocities[:7] plus the
collected gripper position from the original action vector.
Detailed columns such as action.joint_position, action.joint_velocity,
action.gripper_position, observation.state.joint_position, and
observation.state.gripper_position remain available in the parquet files.
Dataset Statistics
- Episodes:
319 - Frames:
61511 - Unique tasks:
301 observation.stateshape:[8]actionshape:[8]- Video keys:
['observation.images.wrist_left', 'observation.images.side_view_1_left'] - Videos:
638
Top Episode Task Strings
| task | episodes |
|---|---|
| ['Stack the yellow bar on top of the red cube'] | 20 |
| ['Stack the cups from the top cup to the bottom cup'] | 1 |
| ['Pick up the lid and place it on top of the blue pot.'] | 1 |
| ['Move the white mug from on top of the paper towel to the counter'] | 1 |
| ['Remove the cap from the door coat hanging hook and put it on top of the cabinet'] | 1 |
| ['Stack the items on the tablecloth together.'] | 1 |
| ['Fold the white cloth in half, pick up the white cloth and put it on top of the far right throw pillow'] | 1 |
| ['Place the grey object at the top of the stack'] | 1 |
| ['Place the yellow chip on the right on top of the two yellow chips.'] | 1 |
| ['Stack the cups on the table'] | 1 |
Files
meta/info.json
meta/tasks.jsonl
meta/episodes.jsonl
meta/episodes_stats.jsonl
data/chunk-000/episode_*.parquet
videos/chunk-000/observation.images.wrist_left/episode_*.mp4
episodes.csv
merge_summary.json
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