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 292
values | language_instruction_3 stringclasses 295
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.original listlengths 7 7 | action listlengths 8 8 | discount float32 1 1 | reward float32 0 1 | task_category stringclasses 39
values | building stringclasses 39
values | collector_id stringclasses 43
values | date stringclasses 43
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 68.3 | frame_index int64 0 1.03k | episode_index int64 0 299 | index int64 0 90.1k | task_index int64 0 299 |
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false | false | false | Remove some rubber bands from the plastic and put them on top of the white storage container. | Remove the rubber bands from the plastic | Remove some rubber bands from the plastic and put them on top of the white storage container. | 0.991189 | [
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End of preview. Expand in Data Studio
DROID Skill Subset: stacking
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_stacking - Source dataset path used locally:
/scratch/jellyho/droid_1.0.1 - Output subset path used locally:
/scratch/jellyho/droid_subsets/stacking
Filtering
{
"skills": [
"stacking"
],
"skill_keywords": {
"stacking": [
"stack",
"on top",
"pile"
]
},
"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:
90123 - Unique tasks:
300 - Sampling mode:
balanced - Max episodes:
300 - Seed:
0 - Mean episode length:
300.41 - Min/max episode length:
85/1026 - Episode success rate:
0.9966666666666667
Top Tasks
| task_text | episodes |
|---|---|
| Stack the black pieces together | 1 |
| Remove some rubber bands from the plastic and put them on top of the white storage container. | 1 |
| Pick the red bowl from the top cabinet and put it on top of the microwave | 1 |
| Place the bowl on the left on top of the bowl on the right, put the two forks inside the top bowl | 1 |
| Put the blue-yellow building block on top of the orange building block | 1 |
| Stack up the white paper cups | 1 |
| Move the white bottle to the left and place it on top of the silver object | 1 |
| Stack the cups | 1 |
| Place the clear ring on the stack | 1 |
| Turn the blue legos with the green legos on the top anti clockwise then put the green legos on top of the same legos | 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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