is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringlengths 0 271 ⌀ | language_instruction_2 stringlengths 0 209 ⌀ | language_instruction_3 stringlengths 0 207 ⌀ | observation.state.gripper_position float32 0 1 ⌀ | 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 6
values | building stringclasses 6
values | collector_id stringclasses 7
values | date stringclasses 7
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 2
classes | timestamp float32 0 141 ⌀ | frame_index int64 0 2.11k ⌀ | episode_index int64 0 7.66k ⌀ | index int64 0 2.06M ⌀ | task_index int64 0 4.44k ⌀ |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
true | false | false | Put the marker inside the white bowl | Place the marker in the bowl | Place the green marker in the grey bowl | 0 | [
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false | false | false | Put the marker inside the white bowl | Place the marker in the bowl | Place the green marker in the grey bowl | 0 | [
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false | false | false | Put the marker inside the white bowl | Place the marker in the bowl | Place the green marker in the grey bowl | 0 | [
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false | false | false | Put the marker inside the white bowl | Place the marker in the bowl | Place the green marker in the grey bowl | 0 | [
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false | false | false | Put the marker inside the white bowl | Place the marker in the bowl | Place the green marker in the grey bowl | 0 | [
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false | false | false | Put the marker inside the white bowl | Place the marker in the bowl | Place the green marker in the grey bowl | 0 | [
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false | false | false | Put the marker inside the white bowl | Place the marker in the bowl | Place the green marker in the grey bowl | 0 | [
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false | false | false | Put the marker inside the white bowl | Place the marker in the bowl | Place the green marker in the grey bowl | 0 | [
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droid_iris_full
Lab-filtered subset of lerobot/droid_1.0.1.
- Source:
lerobot/droid_1.0.1(LeRobot v3.0) - Filter:
lab = IRISvia majority-votecollector_id -> labmapping fromaggregated-annotations-030724.json(DROID release). - Episodes: 7665
- Frames: 2,061,097
- Tasks: 4437
- Codebase version: v3.0
What's included
This subset includes only the lightweight parquet data (proprio, actions, language, metadata). The original DROID videos (AV1 MP4, ~200 GB) are NOT included; the observation.images.* video features have been dropped from info.json.
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