README.md

metadata

license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - droid
  - rlds
  - openx
  - franka
configs:
  - config_name: default
    data_files: data/*/*.parquet

This dataset is a pruned, one-camera subset of the original IPEC-COMMUNITY/droid_lerobot:

• Removed episodes with empty task text (e.g., "tasks": [""]).
• Grouped by task string and kept ≤ 4 episodes per unique task.
• For each kept episode, kept exactly one camera stream, chosen at random from
  {observation.images.exterior_image_1_left, observation.images.exterior_image_2_left, observation.images.wrist_image_left}, and unified it under the single key observation.images.image.
• Reindexed episodes to [0..N-1], rebuilt task_index from task text, and updated meta/ (info.json, episodes.jsonl, tasks.jsonl, stats.json).
• Kept Parquet files strictly numeric/time-series; pixels live in MP4s (as in the source dataset).

Note: To compute image statistics in meta/stats.json, we combine the original per-camera stats weighted by how many frames from each camera survived.

Dataset Description

• Source dataset: IPEC-COMMUNITY/droid_lerobot
• License: apache-2.0 (inherits from the source)
• Robot: Franka Emika Panda
• FPS / Resolution: 15 FPS, 180×320 RGB, AV1 codec (unchanged)

Quick stats (this release)

• Episodes: 39,530
• Frames: 11,543,142
• Tasks (unique): 31,305
• Videos: 39,530 (one per episode)
• Frames kept by source camera (for transparency):
  wrist_image_left: 3,856,202 · exterior_image_1_left: 3,854,740 · exterior_image_2_left: 3,832,200

Dataset Structure

meta/info.json:

{
  "codebase_version": "v2.0",
  "robot_type": "franka",
  "total_episodes": 39530,
  "total_frames": 11543142,
  "total_tasks": 31305,
  "total_videos": 39530,
  "total_chunks": 93,
  "chunks_size": 1000,
  "fps": 15,
  "splits": {
    "train": "0:39530"
  },
  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
  "features": {
    "observation.images.image": {
      "dtype": "video",
      "shape": [
        180,
        320,
        3
      ],
      "names": [
        "height",
        "width",
        "rgb"
      ],
      "info": {
        "video.fps": 15.0,
        "video.height": 180,
        "video.width": 320,
        "video.channels": 3,
        "video.codec": "av1",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    },
    "observation.state": {
      "dtype": "float32",
      "shape": [
        8
      ],
      "names": {
        "motors": [
          "x",
          "y",
          "z",
          "roll",
          "pitch",
          "yaw",
          "pad",
          "gripper"
        ]
      }
    },
    "action": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": {
        "motors": [
          "x",
          "y",
          "z",
          "roll",
          "pitch",
          "yaw",
          "gripper"
        ]
      }
    },
    "timestamp": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": null
    },
    "frame_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "episode_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "task_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    }
  }
}