Datasets:
is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringclasses 300
values | language_instruction_2 stringclasses 261
values | language_instruction_3 stringclasses 272
values | 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 listlengths 8 8 | discount float32 1 1 | reward float32 0 1 | task_category stringclasses 28
values | building stringclasses 28
values | collector_id stringclasses 39
values | date stringclasses 39
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 97.1 | frame_index int64 0 971 | episode_index int64 0 318 | index int64 0 80.6k | task_index int64 0 299 | prompt stringclasses 300
values |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
true | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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] | 1 | 0 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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] | 1 | 0 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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] | 1 | 0 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
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0.5916680693626404,
0.5310682058334351,
-2.1193206310272217,
0.11538411676883698,
-2.1929304599761963
] | true | 7.8 | 78 | 0 | 78 | 0 | Sweep the candy to the left using the white and black brush |
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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 |
|---|---|
| jellyho/droid_subsets_wiping | 300 |
| jellyho/droid_wipe_table | 19 |
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:
319 - Frames:
80582 - Unique tasks:
300 observation.stateshape:[8]actionshape:[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
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
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