droid: Dataset Card

This dataset was created using LeRobot.

DROID: A Large-Scale In-the-Wild Robot Manipulation Dataset

One of the biggest open-source dataset for robotics with 27.044,326 frames, 92,223 episodes, 31,308 unique task description in natural language.

Ported from Tensorflow Dataset format (2TB) to LeRobotDataset format (400GB) with the help from IPEC-COMMUNITY.

• Visualization: LeRobot
• Homepage: Droid
• Paper: Arxiv
• License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "franka",
    "total_episodes": 92233,
    "total_frames": 27044326,
    "total_tasks": 0,
    "total_videos": 92233,
    "total_chunks": 0,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:92233"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.images.exterior_image_2_left": {
            "dtype": "video",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.fps": 15.0,
                "video.height": 180,
                "video.width": 320,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.exterior_image_1_left": {
            "dtype": "video",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.fps": 15.0,
                "video.height": 180,
                "video.width": 320,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.wrist_image_left": {
            "dtype": "video",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.fps": 15.0,
                "video.height": 180,
                "video.width": 320,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "motors": [
                    "x",
                    "y",
                    "z",
                    "rx",
                    "ry",
                    "rz",
                    "rw",
                    "gripper"
                ]
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "motors": [
                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw",
                    "gripper"
                ]
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

@article{khazatsky2024droid,
  title={Droid: A large-scale in-the-wild robot manipulation dataset},
  author={Khazatsky, Alexander and Pertsch, Karl and Nair, Suraj and Balakrishna, Ashwin and Dasari, Sudeep and Karamcheti, Siddharth and Nasiriany, Soroush and Srirama, Mohan Kumar and Chen, Lawrence Yunliang and Ellis, Kirsty and others},
  journal={arXiv preprint arXiv:2403.12945},
  year={2024}
}