Datasets:
is_first bool | is_last bool | is_terminal bool | language_instruction string | language_instruction_2 string | language_instruction_3 string | observation.state.gripper_position float32 | observation.state.cartesian_position list | observation.state.joint_position list | observation.state list | action.gripper_position float32 | action.gripper_velocity float32 | action.cartesian_position list | action.cartesian_velocity list | action.joint_position list | action.joint_velocity list | action.original list | action list | discount float32 | reward float32 | task_category string | building string | collector_id string | date string | camera_extrinsics.wrist_left list | camera_extrinsics.exterior_1_left list | camera_extrinsics.exterior_2_left list | is_episode_successful bool | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
Merged DROID Skill Dataset: pressing
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_pressing - Local merged dataset path:
/scratch/jellyho/droid_merged_skills/pressing - Skill:
pressing
Sources
[
"jellyho/droid_subsets_pressing",
"jellyho/droid_press_button"
]
| source_dataset | episodes |
|---|---|
| jellyho/droid_subsets_pressing | 300 |
| jellyho/droid_press_button | 20 |
State And Action
The compact LeRobot training fields are standardized as 8D vectors:
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:
61602 - Unique tasks:
301 observation.stateshape:[8]actionshape:[8]
Top Episode Task Strings
| task | episodes |
|---|---|
| ['Press the red button on the table'] | 20 |
| ['Push the button to release the toaster lever'] | 1 |
| ['Press a button on the washing machine on the right.'] | 1 |
| ['Press the orange button from the stove'] | 1 |
| ['Move the tap nozzle to the right then open it'] | 1 |
| ['Open the tap, pick up the green sponge and wet it with the running water, squeeze the green sponge four times and drop it into the sink'] | 1 |
| ['Press a button on the black speaker in front of the television.'] | 1 |
| ['Press down on the white and blue packet and put it in the trash chute on the left'] | 1 |
| ['Press a black key on the middle keys of the piano'] | 1 |
| ['Press the keys on the keyboard'] | 1 |
Files
meta/info.json
meta/tasks.parquet
meta/episodes/chunk-000/file-000.parquet
data/chunk-000/file-*.parquet
episodes.csv
merge_summary.json
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