allenai/MolmoAct2-DROID-Dataset

MolmoAct2-DROID数据集是一个用于机器人学任务的数据集，通过LeRobot工具创建。它包含训练数据，存储在parquet格式的文件中，路径为data/chunk-*/file-*.parquet。数据集提供了语言注释，这些注释存储在meta/tasks_annotated.parquet文件中，通过episode_index进行索引，并包含每集的标注指令（task列）。标准LeRobot加载器使用task_index从meta/tasks.parquet中查找语言指令；当使用这些注释时，应加载meta/tasks_annotated.parquet并根据当前episode_index查找。如果没有有效的注释行，则回退到标准LeRobot任务。数据集的结构和元数据可在meta/info.json中查看。数据集采用Apache 2.0许可证。

The MolmoAct2-DROID dataset is a dataset for robotics tasks, created using the LeRobot tool. It includes training data stored in parquet format files, with the path data/chunk-*/file-*.parquet. The dataset provides language annotations stored in the meta/tasks_annotated.parquet file, indexed by episode_index and containing per-episode annotated instructions in the task column. The standard LeRobot loader resolves language instructions through task_index, which is looked up in meta/tasks.parquet; when using these annotations, load meta/tasks_annotated.parquet and look up based on the current episode_index. If no valid annotated row is available, fall back to the standard LeRobot task. The dataset structure and metadata can be viewed in meta/info.json. The dataset is licensed under Apache 2.0.