Datasetpublic

jellyho/droid_merged_skills_placing

Merged DROID Skill Dataset: placing 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_placing Local merged dataset path: /scratch/jellyho/droid_merged_skills_v21/placing Skill: placing LeRobot codebase version: v2.1 Sources [ "jellyho/droid_subsets_placing", "jellyho/droid_place_hammer" ] source_dataset episodes… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/droid_merged_skills_placing.

sourceHugging Faceapache-2.0updated 4mo agoView on Hugging Face

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Dataset Card

Merged DROID Skill Dataset: placing

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

Sources

json

[
  "jellyho/droid_subsets_placing",
  "jellyho/droid_place_hammer"
]

source_dataset	episodes
jellyho/droidsubsetsplacing	300
jellyho/droidplacehammer	20

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: 320
—Frames: 55821
—Unique tasks: 301
—observation.state shape: [8]
—action shape: [8]
—Video keys: ['observation.images.wrist_left', 'observation.images.side_view_1_left']
—Videos: 640

Top Episode Task Strings

task	episodes
['place the hammer on the blue plate']	20
['Place the cup on the coffee maker']	1
['Put the orange ring on the wooden platform']	1
['Put a pen inside the container']	1
['Pick up the black remote and put it on the gray pillow']	1
['Put the pink block on top of the blue block']	1
['Put the black cloth in the laundry basket']	1
['Remove the yellow object from the green bowl and place it in on the worktop']	1
['Put the lid on the brown bottle']	1
['Take the object from the mag cup and put it on the table']	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