Datasetpublic

jellyho/droid_merged_skills_wiping

Merged DROID Skill Dataset: wiping 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_wiping Local merged dataset path: /scratch/jellyho/droid_merged_skills_v21/wiping Skill: wiping LeRobot codebase version: v2.1 Sources [ "jellyho/droid_subsets_wiping", "jellyho/droid_wipe_table" ] source_dataset episodes… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/droid_merged_skills_wiping.

sourceHugging Faceapache-2.0updated 4mo agoView on Hugging Face

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Dataset Card

Merged DROID Skill Dataset: wiping

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

Sources

json

[
  "jellyho/droid_subsets_wiping",
  "jellyho/droid_wipe_table"
]

source_dataset	episodes
jellyho/droidsubsetswiping	300
jellyho/droidwipetable	19

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: 319
—Frames: 80582
—Unique tasks: 300
—observation.state shape: [8]
—action shape: [8]
—Video keys: ['observation.images.wrist_left', 'observation.images.side_view_1_left']
—Videos: 638

Top Episode Task Strings

task	episodes
['Use the towel to wipe the table.']	20
['Take the towel and clean the right part of the table']	1
['Use the left towel farthest from you to wipe the pan']	1
['Pick up the brush from the table and sweep the paper pieces.']	1
['Remove the wipe from the roll and put it on the left']	1
['Pick up the white cloth out of the basket and wipe the table with it']	1
['Use the green hand broom to sweep the top of the left washing machine']	1
['Clean the plate with the sponge']	1
['Use the blue cloth to wipe the white plate']	1
['Put the brush in the blue bowl']	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