Droid 1.0.1

Name: Droid 1.0.1
Creator: Helix
Keywords: LeRobot, dataset, discovered, hugging face, license:apache-2.0, region:us, task_categories:robotics

Hugging Face

This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v2.1", "robot_type": "Franka", "total_episodes": 95600, "total_frames": 27612581, "total_tasks": 0, "total_videos": 286800, "total_chunks": 95, "chunks_size": 1000, "fps": 15, "splits": { "train": "0:95600" }, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path":… See the full description on the dataset page: https://huggingface.co/datasets/cadene/droid_1.0.1.

cadene--droid-1-0-1.parquet 500 rows cadene/droid_1.0.1

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show observation.state.gripper_position over date as a line chart average observation.state.gripper_position by language_instruction scatter observation.state.gripper_position vs action.gripper_position distribution of language_instruction

Data preview

500 rows · 33 columns · showing first 12

#	is_first boolean	is_last boolean	is_terminal boolean	observation.state.cartesian_position text	observation.state.joint_position text	observation.state text	action.cartesian_position text	action.cartesian_velocity text	action.joint_position text	action.joint_velocity text	action.original text	action text	discount float	task_category text	building text	collector_id text	date text	camera_extrinsics.wrist_left text	camera_extrinsics.exterior_1_left text	camera_extrinsics.exterior_2_left text	is_episode_successful boolean	timestamp float	frame_index integer	column_32 integer
1	True	False	False	[ 0.41833705 -0.16570441 0.51653355 3.01289392 -0.27949667 -0.26123703]	[-0.22476004 -0.42106023 -0.12811285 -2.35475683 -0.19623408 2.21800232 0.02638818]	[-0.22476004 -0.42106023 -0.12811285 -2.35475683 -0.19623408 2.21800232 0.02638818 0. ]	[ 0.41801384 -0.16655575 0.51651996 3.01322889 -0.27950293 -0.2632471 ]	[0. 0. 0. 0. 0. 0.]	[-0.22012979 -0.42091608 -0.13413987 -2.35190821 -0.19846679 2.21423674 0.02765813]	[ 0.02907034 0.00067504 -0.0262411 0.01411975 -0.01116389 -0.01882628 0.00623559]	[ 0.41801384 -0.16655575 0.51651996 3.01322889 -0.27950293 -0.2632471 0. ]	[-0.22012979 -0.42091608 -0.13413987 -2.35190821 -0.19846679 2.21423674 0.02765813 0. ]	1	2479 Richard Ct	2479 Richard Ct	52ca9b6a	52ca9b6a	[ 0.34543806 -0.18075275 0.47526526 2.51149035 0.1086637 1.27573597]	[ 0.33115879 0.70930928 0.49581319 -2.05021191 -0.01534074 -2.71234441]	[-0.06135628 -0.5999034 0.48701075 -2.16112232 0.05981108 -0.96402305]	True	0	0	0
2	False	False	False	[ 0.41799706 -0.16660014 0.51651341 3.01325059 -0.27948758 -0.26334915]	[-0.2259924 -0.42104504 -0.12894471 -2.35473609 -0.19623478 2.21799755 0.02640993]	[-0.2259924 -0.42104504 -0.12894471 -2.35473609 -0.19623478 2.21799755 0.02640993 0. ]	[ 0.41768798 -0.16740127 0.51649386 3.01382422 -0.27951083 -0.26519331]	[0. 0. 0. 0. 0. 0.]	[-0.22080688 -0.42093784 -0.13538511 -2.35191011 -0.19838211 2.21425176 0.02759541]	[ 0.0282193 0.00070719 -0.02548315 0.0141034 -0.01074351 -0.01875176 0.005922 ]	[ 0.41768798 -0.16740127 0.51649386 3.01382422 -0.27951083 -0.26519331 0. ]	[-0.22080688 -0.42093784 -0.13538511 -2.35191011 -0.19838211 2.21425176 0.02759541 0. ]	1	2479 Richard Ct	2479 Richard Ct	52ca9b6a	52ca9b6a	[ 0.34543806 -0.18075275 0.47526526 2.51149035 0.1086637 1.27573597]	[ 0.33115879 0.70930928 0.49581319 -2.05021191 -0.01534074 -2.71234441]	[-0.06135628 -0.5999034 0.48701075 -2.16112232 0.05981108 -0.96402305]	True	0.06667	1	1
3	False	False	False	[ 0.41767991 -0.16742142 0.51649392 3.01384687 -0.27951404 -0.2652449 ]	[-0.2264528 -0.42108214 -0.13033146 -2.35473084 -0.19622967 2.21800256 0.02641388]	[-0.2264528 -0.42108214 -0.13033146 -2.35473084 -0.19622967 2.21800256 0.02641388 0. ]	[ 0.41748551 -0.16794257 0.5164566 3.01433325 -0.27948287 -0.26642296]	[0. 0. 0. 0. 0. 0.]	[-0.22102743 -0.42092547 -0.13638113 -2.35191751 -0.19826981 2.21426678 0.02751344]	[ 0.02713333 0.00075173 -0.02451719 0.01408257 -0.01020276 -0.01866469 0.00551818]	[ 0.41748551 -0.16794257 0.5164566 3.01433325 -0.27948287 -0.26642296 0. ]	[-0.22102743 -0.42092547 -0.13638113 -2.35191751 -0.19826981 2.21426678 0.02751344 0. ]	1	2479 Richard Ct	2479 Richard Ct	52ca9b6a	52ca9b6a	[ 0.34543806 -0.18075275 0.47526526 2.51149035 0.1086637 1.27573597]	[ 0.33115879 0.70930928 0.49581319 -2.05021191 -0.01534074 -2.71234441]	[-0.06135628 -0.5999034 0.48701075 -2.16112232 0.05981108 -0.96402305]	True	0.1333	2	2
4	False	False	False	[ 0.41747966 -0.16795647 0.51645762 3.01434636 -0.27948841 -0.26645753]	[-0.22645342 -0.42107981 -0.13150918 -2.35473418 -0.19623081 2.2180016 0.0264137 ]	[-0.22645342 -0.42107981 -0.13150918 -2.35473418 -0.19623081 2.2180016 0.0264137 0. ]	[ 0.41741836 -0.16813047 0.51643687 3.01450706 -0.27945733 -0.26684844]	[0. 0. 0. 0. 0. 0.]	[-0.22110277 -0.42090484 -0.13672633 -2.35191894 -0.19823325 2.21427155 0.02748699]	[ 0.02675779 0.0007672 -0.02418334 0.0140746 -0.01001539 -0.01863377 0.00537831]	[ 0.41741836 -0.16813047 0.51643687 3.01450706 -0.27945733 -0.26684844 0. ]	[-0.22110277 -0.42090484 -0.13672633 -2.35191894 -0.19823325 2.21427155 0.02748699 0. ]	1	2479 Richard Ct	2479 Richard Ct	52ca9b6a	52ca9b6a	[ 0.34543806 -0.18075275 0.47526526 2.51149035 0.1086637 1.27573597]	[ 0.33115879 0.70930928 0.49581319 -2.05021191 -0.01534074 -2.71234441]	[-0.06135628 -0.5999034 0.48701075 -2.16112232 0.05981108 -0.96402305]	True	0.2	3	3
5	False	False	False	[ 0.41741842 -0.16813359 0.51643777 3.01450992 -0.27946305 -0.26685616]	[-0.22645289 -0.4210563 -0.13189712 -2.35473108 -0.19623081 2.21800303 0.0264137 ]	[-0.22645289 -0.4210563 -0.13189712 -2.35473108 -0.19623081 2.21800303 0.0264137 0. ]	[ 0.41742501 -0.1681063 0.51644653 3.014498 -0.27948096 -0.26679355]	[0. 0. 0. 0. 0. 0.]	[-0.22107121 -0.42092216 -0.13670333 -2.35191727 -0.19823349 2.21427536 0.02748772]	[ 0.0267432 0.00076822 -0.02417017 0.01407551 -0.01000817 -0.01863433 0.0053727 ]	[ 0.41742501 -0.1681063 0.51644653 3.014498 -0.27948096 -0.26679355 0. ]	[-0.22107121 -0.42092216 -0.13670333 -2.35191727 -0.19823349 2.21427536 0.02748772 0. ]	1	2479 Richard Ct	2479 Richard Ct	52ca9b6a	52ca9b6a	[ 0.34543806 -0.18075275 0.47526526 2.51149035 0.1086637 1.27573597]	[ 0.33115879 0.70930928 0.49581319 -2.05021191 -0.01534074 -2.71234441]	[-0.06135628 -0.5999034 0.48701075 -2.16112232 0.05981108 -0.96402305]	True	0.2667	4	4
6	False	False	False	[ 0.41742486 -0.16810553 0.5164448 3.01449847 -0.27947828 -0.26679453]	[-0.22641945 -0.42107564 -0.1318685 -2.35473585 -0.19623201 2.21800303 0.02641561]	[-0.22641945 -0.42107564 -0.1318685 -2.35473585 -0.19623201 2.21800303 0.02641561 0. ]	[ 0.41740265 -0.16816142 0.5164414 3.0145402 -0.27947706 -0.26691851]	[0. 0. 0. 0. 0. 0.]	[-0.2211121 -0.42092419 -0.13678898 -2.35192513 -0.19822602 2.21427965 0.02747998]	[ 0.02667809 0.00077072 -0.02411222 0.01407391 -0.00997606 -0.01862846 0.00534885]	[ 0.41740265 -0.16816142 0.5164414 3.0145402 -0.27947706 -0.26691851 0. ]	[-0.2211121 -0.42092419 -0.13678898 -2.35192513 -0.19822602 2.21427965 0.02747998 0. ]	1	2479 Richard Ct	2479 Richard Ct	52ca9b6a	52ca9b6a	[ 0.34543806 -0.18075275 0.47526526 2.51149035 0.1086637 1.27573597]	[ 0.33115879 0.70930928 0.49581319 -2.05021191 -0.01534074 -2.71234441]	[-0.06135628 -0.5999034 0.48701075 -2.16112232 0.05981108 -0.96402305]	True	0.3333	5	5
7	False	False	False	[ 0.41740322 -0.16816433 0.51644325 3.01454139 -0.27947894 -0.26692411]	[-0.22645006 -0.4210746 -0.13196933 -2.35473228 -0.19622974 2.21800351 0.02640949]	[-0.22645006 -0.4210746 -0.13196933 -2.35473228 -0.19622974 2.21800351 0.02640949 0. ]	[ 0.41740489 -0.16816218 0.51643628 3.01454353 -0.27946332 -0.26692131]	[0. 0. 0. 0. 0. 0.]	[-0.22110656 -0.42091158 -0.13679448 -2.35192323 -0.19822443 2.21427655 0.02748126]	[ 0.02666579 0.00077115 -0.02410144 0.01407315 -0.00996965 -0.01862698 0.00534411]	[ 0.41740489 -0.16816218 0.51643628 3.01454353 -0.27946332 -0.26692131 0. ]	[-0.22110656 -0.42091158 -0.13679448 -2.35192323 -0.19822443 2.21427655 0.02748126 0. ]	1	2479 Richard Ct	2479 Richard Ct	52ca9b6a	52ca9b6a	[ 0.34543806 -0.18075275 0.47526526 2.51149035 0.1086637 1.27573597]	[ 0.33115879 0.70930928 0.49581319 -2.05021191 -0.01534074 -2.71234441]	[-0.06135628 -0.5999034 0.48701075 -2.16112232 0.05981108 -0.96402305]	True	0.4	6	6
8	False	False	False	[ 0.41740793 -0.1681616 0.51643735 3.01454282 -0.27946475 -0.26691207]	[-0.22643961 -0.4210583 -0.13197121 -2.35472941 -0.1962267 2.21800327 0.02640429]	[-0.22643961 -0.4210583 -0.13197121 -2.35472941 -0.1962267 2.21800327 0.02640429 0. ]	[ 0.41740263 -0.1681679 0.51643831 3.01454997 -0.27946693 -0.26693258]	[0. 0. 0. 0. 0. 0.]	[-0.22111019 -0.42091373 -0.13680373 -2.35192013 -0.19822066 2.2142756 0.02747691]	[ 0.02666032 0.00077144 -0.02409654 0.01407327 -0.009967 -0.01862668 0.00534212]	[ 0.41740263 -0.1681679 0.51643831 3.01454997 -0.27946693 -0.26693258 0. ]	[-0.22111019 -0.42091373 -0.13680373 -2.35192013 -0.19822066 2.2142756 0.02747691 0. ]	1	2479 Richard Ct	2479 Richard Ct	52ca9b6a	52ca9b6a	[ 0.34543806 -0.18075275 0.47526526 2.51149035 0.1086637 1.27573597]	[ 0.33115879 0.70930928 0.49581319 -2.05021191 -0.01534074 -2.71234441]	[-0.06135628 -0.5999034 0.48701075 -2.16112232 0.05981108 -0.96402305]	True	0.4667	7	7
9	False	False	False	[ 0.41740453 -0.16816381 0.51643789 3.01454926 -0.27946782 -0.26692715]	[-0.22643816 -0.42106685 -0.13197912 -2.35473537 -0.19622673 2.2180028 0.02641242]	[-0.22643816 -0.42106685 -0.13197912 -2.35473537 -0.19622673 2.2180028 0.02641242 0. ]	[ 0.41740319 -0.16816556 0.51644224 3.01454973 -0.27947587 -0.26693135]	[0. 0. 0. 0. 0. 0.]	[-0.22110811 -0.42091829 -0.13680033 -2.35191655 -0.19822046 2.2142756 0.02748085]	[ 0.02665957 0.00077163 -0.02409581 0.01407371 -0.00996664 -0.01862711 0.00534175]	[ 0.41740319 -0.16816556 0.51644224 3.01454973 -0.27947587 -0.26693135 0. ]	[-0.22110811 -0.42091829 -0.13680033 -2.35191655 -0.19822046 2.2142756 0.02748085 0. ]	1	2479 Richard Ct	2479 Richard Ct	52ca9b6a	52ca9b6a	[ 0.34543806 -0.18075275 0.47526526 2.51149035 0.1086637 1.27573597]	[ 0.33115879 0.70930928 0.49581319 -2.05021191 -0.01534074 -2.71234441]	[-0.06135628 -0.5999034 0.48701075 -2.16112232 0.05981108 -0.96402305]	True	0.5333	8	8
10	False	False	False	[ 0.41740158 -0.16816829 0.51643842 3.01455164 -0.27946827 -0.26693809]	[-0.22644512 -0.42107081 -0.13198335 -2.35473728 -0.19622608 2.21800137 0.02641149]	[-0.22644512 -0.42107081 -0.13198335 -2.35473728 -0.19622608 2.21800137 0.02641149 0. ]	[ 0.41740149 -0.16817202 0.51644194 3.01455307 -0.27947643 -0.26693925]	[0. 0. 0. 0. 0. 0.]	[-0.22111012 -0.42091638 -0.13681227 -2.35191512 -0.19822007 2.21427774 0.02747465]	[ 0.02664831 0.00077209 -0.02408582 0.01407351 -0.00996097 -0.01862621 0.00533749]	[ 0.41740149 -0.16817202 0.51644194 3.01455307 -0.27947643 -0.26693925 0. ]	[-0.22111012 -0.42091638 -0.13681227 -2.35191512 -0.19822007 2.21427774 0.02747465 0. ]	1	2479 Richard Ct	2479 Richard Ct	52ca9b6a	52ca9b6a	[ 0.34543806 -0.18075275 0.47526526 2.51149035 0.1086637 1.27573597]	[ 0.33115879 0.70930928 0.49581319 -2.05021191 -0.01534074 -2.71234441]	[-0.06135628 -0.5999034 0.48701075 -2.16112232 0.05981108 -0.96402305]	True	0.6	9	9
11	False	False	False	[ 0.41740069 -0.1681729 0.51643842 3.0145545 -0.27946931 -0.26694608]	[-0.22644322 -0.42106888 -0.13199461 -2.35473514 -0.1962276 2.21800256 0.02641088]	[-0.22644322 -0.42106888 -0.13199461 -2.35473514 -0.1962276 2.21800256 0.02641088 0. ]	[ 0.41739881 -0.16817656 0.51643687 3.01456046 -0.27946478 -0.2669591 ]	[0. 0. 0. 0. 0. 0.]	[-0.22111496 -0.42091432 -0.13681902 -2.35192251 -0.19821782 2.21427464 0.02748096]	[ 0.02664299 0.00077215 -0.02408113 0.01407285 -0.00995843 -0.0186252 0.00533576]	[ 0.41739881 -0.16817656 0.51643687 3.01456046 -0.27946478 -0.2669591 0. ]	[-0.22111496 -0.42091432 -0.13681902 -2.35192251 -0.19821782 2.21427464 0.02748096 0. ]	1	2479 Richard Ct	2479 Richard Ct	52ca9b6a	52ca9b6a	[ 0.34543806 -0.18075275 0.47526526 2.51149035 0.1086637 1.27573597]	[ 0.33115879 0.70930928 0.49581319 -2.05021191 -0.01534074 -2.71234441]	[-0.06135628 -0.5999034 0.48701075 -2.16112232 0.05981108 -0.96402305]	True	0.6667	10	10
12	False	False	False	[ 0.41739836 -0.16817822 0.51643902 3.01455736 -0.27946851 -0.26696128]	[-0.22644696 -0.42106995 -0.13200268 -2.35473371 -0.19622923 2.21799898 0.02641442]	[-0.22644696 -0.42106995 -0.13200268 -2.35473371 -0.19622923 2.21799898 0.02641442 0. ]	[ 0.41740251 -0.16816922 0.51644146 3.01455307 -0.27947584 -0.26693588]	[0. 0. 0. 0. 0. 0.]	[-0.22110769 -0.42091608 -0.13680854 -2.35191607 -0.19821922 2.21427798 0.02747701]	[ 0.02664946 0.00077203 -0.02408686 0.01407348 -0.00996156 -0.01862628 0.00533794]	[ 0.41740251 -0.16816922 0.51644146 3.01455307 -0.27947584 -0.26693588 0. ]	[-0.22110769 -0.42091608 -0.13680854 -2.35191607 -0.19821922 2.21427798 0.02747701 0. ]	1	2479 Richard Ct	2479 Richard Ct	52ca9b6a	52ca9b6a	[ 0.34543806 -0.18075275 0.47526526 2.51149035 0.1086637 1.27573597]	[ 0.33115879 0.70930928 0.49581319 -2.05021191 -0.01534074 -2.71234441]	[-0.06135628 -0.5999034 0.48701075 -2.16112232 0.05981108 -0.96402305]	True	0.7333	11	11

Auto-generated charts

Droid 1.0.1: 500 rows by 33 columns. These exploratory charts are generated automatically from the data - open the dataset in Helix to ask your own questions.

Rows500

Columns33

Numeric cols7

Categorical cols11

Charts

Total observation.state.gripper_position by is_first

Top is_first values ranked by summed observation.state.gripper_position.

observation.state.gripper_position vs action.gripper_position

observation.state.gripper_position vs action.gripper_position, coloured by is_first.

Distribution of observation.state.gripper_position

Histogram of observation.state.gripper_position values.

Correlation of numeric columns

Pearson correlation between numeric columns.

observation.state.gripper_position by is_first

Spread of observation.state.gripper_position across is_first groups.

Interesting queries to try

Columns

is_first bool
is_last bool
is_terminal bool
language_instruction categorical
language_instruction_2 categorical
language_instruction_3 categorical
observation.state.gripper_position numeric
observation.state.cartesian_position mixed
observation.state.joint_position mixed
observation.state mixed
action.gripper_position numeric
action.gripper_velocity numeric
action.cartesian_position mixed
action.cartesian_velocity mixed
action.joint_position mixed
action.joint_velocity mixed
action.original mixed
action mixed
discount numeric
reward numeric
task_category categorical
building categorical
collector_id categorical
date datetime
camera_extrinsics.wrist_left mixed
camera_extrinsics.exterior_1_left mixed
camera_extrinsics.exterior_2_left mixed
is_episode_successful bool
timestamp datetime
frame_index numeric
episode_index numeric
index numeric
task_index numeric