droid_subsets_scooping

这是一个基于DROID 1.0.1数据集的技能过滤子集，专门针对舀取（scooping）技能。该子集通过droid_filter.py脚本从原始数据集中筛选生成，包含300个独立任务和147394帧数据，平均每个任务长度为491.31帧，成功率为1.0。数据集采用LeRobot格式布局，包括元数据文件、任务文件、数据文件等，适用于轻量级的技能条件微调实验，但不包含视频文件（除非显式生成）。过滤条件基于关键词如scoop up、use the spoon to等，确保任务与舀取技能相关。

This is a skill-filtered subset based on the DROID 1.0.1 dataset, specifically targeting the scooping skill. The subset is generated by filtering the original dataset using the droid_filter.py script, containing 300 independent tasks and 147,394 frames of data, with an average task length of 491.31 frames and a success rate of 1.0. The dataset adopts the LeRobot format layout, including metadata files, task files, data files, etc., and is suitable for lightweight skill-conditioned fine-tuning experiments, but does not include video files (unless explicitly generated). Filtering conditions are based on keywords such as scoop up, use the spoon to, etc., ensuring tasks are related to the scooping skill.

原始信息汇总

数据集概述：DROID Skill Subset: scooping

基本信息

• 数据集名称：DROID Skill Subset: scooping
• 许可证：Apache-2.0
• 任务类别：机器人学（Robotics）
• 标签：LeRobot、DROID、Robotics、Skill-Filtered、Scooping
• 发布地址：jellyho/droid_subsets_scooping（Hugging Face 仓库）

数据集来源与筛选

• 来源：基于 DROID 1.0.1 数据集（LeRobot 格式）通过技能筛选生成。
• 筛选方法：使用 droid_filter.py 工具，针对技能 "scooping" 进行过滤。
• 技能关键词：包括 "scoop up"、"to scoop"、"scoop some"、"use the spoon to"、"spoon to take"、"spoon to get"、"spoon to transfer"。
• 筛选配置：
  • 匹配模式：balanced（平衡采样）
  • 最大片段数：300
  • 随机种子：0
  • 不包含正则匹配或排除项，未设置长度限制。

数据集统计

• 片段数：300
• 总帧数：147,394
• 唯一任务数：300
• 平均片段长度：491.31 帧
• 最小/最大片段长度：88 / 1,239 帧
• 片段成功率：1.0（所有片段均为成功演示）

任务示例（Top Tasks）

任务描述	片段数
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

文件结构（LeRobot 格式）

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

• 备注：未包含视频文件（除非通过符号链接或复制实现），旨在用于轻量级的技能条件微调实验。
• 片段索引：保留了紧凑的 episode_index、task_index 和 index 值，确保加载器兼容性；episodes.csv 中保留了 original_episode_index 字段，用于回溯原始 DROID 数据集中的对应行。