Datasets:
is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringlengths 0 280 | language_instruction_2 stringlengths 0 204 | language_instruction_3 stringlengths 0 244 | observation.state.gripper_position float32 0 1 | observation.state.cartesian_position listlengths 6 6 | observation.state.joint_position listlengths 7 7 | observation.state listlengths 7 7 | 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 7 7 | discount float32 1 1 | reward float32 0 1 | task_category stringclasses 71
values | building stringclasses 71
values | collector_id stringclasses 79
values | date stringclasses 79
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 0 127 | frame_index int64 0 1.9k | episode_index int64 0 21.2k | index int64 0 4.4M | task_index int64 0 11.8k | action.delta_ee listlengths 7 7 | observation.gripper.time_to_close float32 0 10k | observation.gripper.time_to_open float32 0 10k | observation.gripper.time_since_close float32 0 10k | observation.gripper.time_since_open float32 0 10k | observation.extrinsics.static1 listlengths 7 7 | observation.extrinsics.static2 listlengths 7 7 | observation.extrinsics.wrist1 listlengths 7 7 | action.joint listlengths 8 8 | observation.state.joint listlengths 8 8 | observation.state.ee_rotvec listlengths 7 7 | observation.state.ee_quat_xyzw listlengths 8 8 | observation.state.ee_rot6d listlengths 10 10 | observation.state.ee_rot6d_rows listlengths 10 10 | observation.state.ee_matrix listlengths 13 13 | observation.state.ee_euler_xyz_fixed listlengths 7 7 | action.ee_absolute.rotvec listlengths 7 7 | action.ee_absolute.quat_xyzw listlengths 8 8 | action.ee_absolute.rot6d listlengths 10 10 | action.ee_absolute.rot6d_rows listlengths 10 10 | action.ee_absolute.matrix listlengths 13 13 | action.ee_absolute.euler_xyz_fixed listlengths 7 7 | action.ee_delta.rotvec listlengths 7 7 | action.ee_delta.quat_xyzw listlengths 8 8 | action.ee_delta.rot6d listlengths 10 10 | action.ee_delta.rot6d_rows listlengths 10 10 | action.ee_delta.matrix listlengths 13 13 | action.ee_delta.euler_xyz_fixed listlengths 7 7 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
DROID 1.0.1 for pi05 training: successful, non-idle segments
lerobot/droid_1.0.1 rewritten twice, videos untouched. First
augment_droid_delta_ee_gripper_events.py (lerobot_policy_framepick) added action.delta_ee,
observation.extrinsics.static1/static2/wrist1 and the observation.gripper.time_* columns;
the flat action is the delta-EE command and the flat observation.state the EE state. Then
benchmarks/robolab/augment_droid_dataset.py (this revision) mirrored the data pipeline of
openpi's pi05_full_droid_finetune:
- only successful episodes are kept (78864 of 95658);
- every episode is cut into its non-idle runs (openpi's
compute_droid_nonidle_ranges.pyrule onaction.joint_velocity: idle runs of 7+ frames removed, runs of 16+ frames kept), each run its own episode: 106920 episodes, 22129092 frames, 93.3% of all frames kept (93.3% in openpi's published ranges); action.jointandobservation.state.jointhold[joint_position(7), gripper_position(1)];observation.state.ee_<rotation>,action.ee_absolute.<rotation>andaction.ee_delta.<rotation>hold the EE state, the absolute EE command and the per-step displacement it asks for, each as[xyz, rotation, gripper]for rotation in rotvec, quat_xyzw, rot6d, rot6d_rows, matrix, euler_xyz_fixed: the layout ofdgrachev/libero_extrinsics.action.ee_delta.rotvecequals the first hop'saction.delta_ee;- every
namesentry is a flat list.
meta/stats.json holds global histogram quantiles over all frames. The action.joint entry
describes 16-step chunks minus the state at chunk start (gripper absolute), the values
pi05 normalizes under use_relative_actions; re-aggregating it from the per-episode statistics
would replace it with absolute values, so rerun the script instead. Per-episode image statistics
are those of the parent episode.
The per-offset tables framepick normalizes with are stats keys, not columns, shaped
(16, action_dim); row i describes offset i inside the chunk, so a shorter chunk keeps
rows :chunk_size. For every action.ee_absolute.<rotation> column:
.anchored_horizon_16 (chunks minus the state at chunk start, gripper absolute),
.expressed_<frame>_horizon_16 for base, static1, wrist1 (the absolute poses as seen from
the frame, frozen at chunk start) and .expressed_horizon_16 pooled over those frames,
.anchored_expressed_horizon_16 (anchored, then the frame's basis change, pooled). Every
10-th complete chunk inside one episode contributes: 2052569 chunks.
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