is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringclasses 300
values | language_instruction_2 stringclasses 286
values | language_instruction_3 stringclasses 292
values | observation.state.gripper_position float32 0 0.99 | observation.state.cartesian_position listlengths 6 6 | observation.state.joint_position listlengths 7 7 | observation.state listlengths 8 8 | action.gripper_position float32 0 1 | action.gripper_velocity float32 -1 1 | action.cartesian_position listlengths 6 6 | action.cartesian_velocity listlengths 6 6 | action.joint_position listlengths 7 7 | action.joint_velocity listlengths 7 7 | action.original listlengths 7 7 | action listlengths 8 8 | discount float32 1 1 | reward float32 0 1 | task_category stringclasses 22
values | building stringclasses 22
values | collector_id stringclasses 19
values | date stringclasses 19
values | camera_extrinsics.wrist_left listlengths 6 6 | camera_extrinsics.exterior_1_left listlengths 6 6 | camera_extrinsics.exterior_2_left listlengths 6 6 | is_episode_successful bool 1
class | timestamp float32 0 82.5 | frame_index int64 0 1.24k | episode_index int64 0 299 | index int64 0 147k | task_index int64 0 299 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
true | false | false | Move the black pot to the right then use the spoon to take some contents out of the pot | Move the pot to the right then use the small spoon to scoop out some of its contents | Use the small spoon to get some contents from the pot and put it back on the table | 0 | [
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false | false | false | Move the black pot to the right then use the spoon to take some contents out of the pot | Move the pot to the right then use the small spoon to scoop out some of its contents | Use the small spoon to get some contents from the pot and put it back on the table | 0 | [
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End of preview. Expand in Data Studio
DROID Skill Subset: scooping
This is a skill-filtered subset of the local DROID 1.0.1 LeRobot-format dataset.
It was generated with droid_filter.py from /scratch/jellyho/prsl_skills.
Repository
- Hugging Face repo:
jellyho/droid_subsets_scooping - Source dataset path used locally:
/scratch/jellyho/droid_1.0.1 - Output subset path used locally:
/scratch/jellyho/droid_subsets/scooping
Filtering
{
"skills": [
"scooping"
],
"skill_keywords": {
"scooping": [
"scoop up",
"to scoop",
"scoop some",
"use the spoon to",
"spoon to take",
"spoon to get",
"spoon to transfer"
]
},
"queries": [],
"exclude": [],
"regex": false,
"match_all": false,
"min_length": null,
"max_length": null,
"max_episodes": 300,
"sample_mode": "balanced",
"seed": 0
}
Dataset Statistics
- Episodes:
300 - Frames:
147394 - Unique tasks:
300 - Sampling mode:
balanced - Max episodes:
300 - Seed:
0 - Mean episode length:
491.31333333333333 - Min/max episode length:
88/1239 - Episode success rate:
1.0
Preserved Action Fields
Filtering only selects episodes/rows. It does not drop action-space columns. The following action columns are preserved from the original DROID parquet files:
action.gripper_position
action.gripper_velocity
action.cartesian_position
action.cartesian_velocity
action.joint_position
action.joint_velocity
action.original
action
action is the compact 8D policy action used by LeRobot-style loaders. The
additional action.* columns remain available in the parquet files for
inspection or custom loaders.
Top Tasks
| task_text | episodes |
|---|---|
| Use the spoon to place some coffee beans from the red bowl in the clear jug. | 1 |
| Move the black pot to the right then use the spoon to take some contents out of the pot | 1 |
| Scoop up the beans from the bowl on the right and put them to the bowl on the left | 1 |
| Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | 1 |
| Use the spoon to scoop some of the contents in the white bowl into the glass on the right | 1 |
| Use the silver spoon to scoop some of the contents in the bowl into the glass cup | 1 |
| Use the spoon to transfer beans to the bowl on the left | 1 |
| Use the spoon to scoop some beans from the red bowl and put them in the pot | 1 |
| Use the spoon to move some of the brown objects to the other bowl | 1 |
| Put the orange objects on the silver spoon then use the spoon to place the objects in the small measuring cup. | 1 |
Files
This repository keeps the LeRobot-style layout:
meta/info.json
meta/tasks.parquet
meta/episodes/chunk-000/file-000.parquet
data/chunk-000/file-*.parquet
episodes.csv
episodes.jsonl
summary.json
stats.json
task_counts.csv
length_histogram.csv
source_episode_files.csv
The subset keeps compact episode_index, task_index, and index values for
loader compatibility. episodes.csv keeps original_episode_index for tracing
rows back to the original DROID dataset when available.
Notes
Video files are not included unless explicitly materialized with video symlinks or copies. These subsets are intended for lightweight skill-conditioned fine-tuning experiments.
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