Datasetpublic

jellyho/droid_merged_skills_picking

Merged DROID Skill Dataset: picking 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_picking Local merged dataset path: /scratch/jellyho/droid_merged_skills_v21/picking Skill: picking LeRobot codebase version: v2.1 Sources [ "jellyho/droid_subsets_picking", "jellyho/droid_pick_carrot" ] source_dataset episodes… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/droid_merged_skills_picking.

sourceHugging Faceapache-2.0updated 4mo agoView on Hugging Face

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Dataset Card

Merged DROID Skill Dataset: picking

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_picking
—Local merged dataset path: /scratch/jellyho/droid_merged_skills_v21/picking
—Skill: picking
—LeRobot codebase version: v2.1

Sources

json

[
  "jellyho/droid_subsets_picking",
  "jellyho/droid_pick_carrot"
]

source_dataset	episodes
jellyho/droidsubsetspicking	300
jellyho/droidpickcarrot	1

State And Action

The compact LeRobot training fields are standardized as 8D vectors:

text

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: 301
—Frames: 58869
—Unique tasks: 302
—observation.state shape: [8]
—action shape: [8]
—Video keys: ['observation.images.wrist_left', 'observation.images.side_view_1_left']
—Videos: 602

Top Episode Task Strings

task	episodes
['Pick up the carrot']	1
['Remove the purple marker from the box and put it on the counter']	1
['Pick up the white remote and move it to the right']	1
['Remove the plastic spoon from the small mug and put it on the counter']	1
['Pick the fork and put it in the drawer']	1
['Remove the glass lid from the black pot']	1
['Take the lid off the pot']	1
['Pick up the brown and yellow medicine bottle from the orange plastic and put it on the table']	1
['Take the spray bottle in the box and put it on the table']	1
['Take the strawberry off of the tray']	1

Files

text

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