dgrachev/

droid_1.0.1

lerobot/droid_1.0.1 with added per-frame features:

action.delta_ee — [x, y, z, rx, ry, rz, gripper] (float32): per-step delta EE command: position delta of action.cartesian_position vs observation.state.cartesian_position, and the relative rotation R_cmd * R_state^-1 (world frame) as an axis-angle vector (gimbal-safe, unlike elementwise rpy subtraction); gripper is the absolute command (0..1, 1 = close).… See the full description on the dataset page: https://huggingface.co/datasets/dgrachev/droid_1.0.1.