droid_merged_skills_stacking

该数据集专为机器人学习设计，特别针对堆叠任务。它整合了一个经过语言筛选的DROID技能子集以及新收集的相同技能（堆叠）环境数据。数据集使用标准化的8维向量来表示状态和动作，这些向量包含了关节位置、夹爪位置等信息。整个数据集规模为319个训练片段（episodes）、61511帧（frames）以及301个不同的任务。此外，数据集还提供了视频索引键和任务字符串的示例。在文件组织上，它包含了元数据、实际的数据文件以及相关的视频文件。

This dataset is designed for robot learning, specifically for stacking tasks. It integrates a language-filtered subset of DROID skills with newly collected environment data for the same skill (stacking). The dataset employs standardized 8-dimensional vectors to represent states and actions, which include information such as joint positions and gripper positions. The overall scale of the dataset comprises 319 episodes, 61511 frames, and 301 unique tasks. Additionally, the dataset provides examples of video keys and task strings. In terms of file structure, it includes metadata, data files, and associated video files.

原始信息汇总

数据集概述：Merged DROID Skill Dataset: stacking

简介
该数据集将经过语言筛选的DROID技能子集与新收集的相同技能的环境数据合并而成，专注于“stacking（堆叠）”技能。基于LeRobot v2.1代码库构建。

许可
Apache-2.0

任务类别
机器人学（robotics）

标签
LeRobot, DROID, robotics, skill-filtered, merged, joint-velocity-action, gripper-position, stacking

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数据来源
数据集由以下两个子数据集合并而成：

源数据集	片段数
jellyho/droid_subsets_stacking	299
jellyho/droid_stack_bar	20

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状态与动作空间
紧凑的LeRobot训练字段标准化为8维向量：

• observation.state = [关节位置0..6, 夹爪位置]
• action = [关节速度0..6, 夹爪位置]

对于原始DROID子集的行，action来源于action.joint_velocity加上action.gripper_position。对于新收集的行，action来源于observation.joint_velocities[:7]加上原始action向量中的夹爪位置。详细的列（如action.joint_position、action.joint_velocity、action.gripper_position、observation.state.joint_position、observation.state.gripper_position）在parquet文件中仍可用。

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数据集统计

指标	数值
片段数 (Episodes)	319
帧数 (Frames)	61511
唯一任务数 (Unique tasks)	301
observation.state 形状	[8]
action 形状	[8]
视频键 (Video keys)	[observation.images.wrist_left, observation.images.side_view_1_left]
视频数 (Videos)	638

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顶部片段任务示例

任务	片段数
[Stack the yellow bar on top of the red cube]	20
[Stack the cups from the top cup to the bottom cup]	1
[Pick up the lid and place it on top of the blue pot.]	1
[Move the white mug from on top of the paper towel to the counter]	1
[Remove the cap from the door coat hanging hook and put it on top of the cabinet]	1
[Stack the items on the tablecloth together.]	1
[Fold the white cloth in half, pick up the white cloth and put it on top of the far right throw pillow]	1
[Place the grey object at the top of the stack]	1
[Place the yellow chip on the right on top of the two yellow chips.]	1
[Stack the cups on the table]	1

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文件结构

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