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README.md

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+---
+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**](https://huggingface.co/datasets/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](https://huggingface.co/datasets/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](meta/info.json):
+```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
+    }
+  }
+}
+```

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