droid_merged_skills_moving

该数据集合并了一个经过语言过滤的DROID技能子集（针对移动技能）与新收集的相同技能的环境数据，属于机器人领域。它标准化了紧凑的LeRobot训练字段，使用8维向量表示观察状态（包括关节位置0-6和夹爪位置）和动作（包括关节速度0-6和夹爪位置）。数据集包含319个episodes、50755帧、301个唯一任务，并提供了视频数据（如左侧手腕和侧视图图像）。数据来源包括两个子集：jellyho/droid_subsets_moving（298个episodes）和jellyho/droid_move_banana（21个episodes）。

This dataset, within the robotics domain, combines a linguistically filtered DROID skill subset tailored for mobile manipulation skills with newly collected environmental data corresponding to the same skill set. It standardizes the compact LeRobot training fields, utilizing 8-dimensional vectors to represent both observation states (including joint positions 0 through 6 and gripper position) and actions (including joint velocities 0 through 6 and gripper position). The dataset comprises 319 episodes, 50755 frames, and 301 unique tasks, and additionally provides video data including left wrist and side view images. The data sources consist of two subsets: jellyho/droid_subsets_moving (298 episodes) and jellyho/droid_move_banana (21 episodes).

原始信息汇总

数据集概述：Merged DROID Skill Dataset: moving

该数据集融合了经过语言筛选的 DROID 技能子集与针对同一技能“moving”新采集的环境数据。

• 仓库地址：jellyho/droid_merged_skills_moving
• 本地路径：/scratch/jellyho/droid_merged_skills_v21/moving
• LeRobot 版本：v2.1

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数据来源

数据集由以下两个来源合并而成：

源数据集	片段数
jellyho/droid_subsets_moving	298
jellyho/droid_move_banana	21

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状态与动作表示

紧凑的 LeRobot 训练字段被标准化为 8 维向量：

• observation.state = [joint_position_0..6, gripper_position]
• action = [joint_velocity_0..6, gripper_position]

动作推导方式：

• 原始 DROID 子集：action 由 action.joint_velocity 与 action.gripper_position 组成。
• 新采集数据：action 由 observation.joint_velocities[:7] 与采集到的 action 向量中的夹爪位置组成。

详细的字段（如 action.joint_position, action.joint_velocity, action.gripper_position, observation.state.joint_position, observation.state.gripper_position）在 parquet 文件中仍保留。

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数据集统计

项目	数值
片段数	319
帧数	50755
唯一任务数	301
observation.state 形状	[8]
action 形状	[8]
视频键	[observation.images.wrist_left, observation.images.side_view_1_left]
视频数量	638

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主要任务示例

任务描述	片段数
[move the banana closer to the green bowl]	21
[Pull open the topmost chest of drawers to the right]	1
[Slide the white plates a little upwards on the table, slide the white plates a little to the left on the table]	1
[Move the bottle from the lower compartment to the upper compartment of the tray]	1
[Move the green and white sachet forward]	1
[Move the brown bear forward]	1
[Move the bigger cube-shaped object to the tray]	1
[Move the white mug forward.]	1
[Move the turquoise object forward]	1
[Move the white ball to the right]	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

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许可

Apache-2.0