---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- openx
configs:
- config_name: default
  data_files: data/*/*.parquet
language:
- en
size_categories:
- 10M<n<100M
---

This dataset was created using [LeRobot](https://github.com/huggingface/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](https://huggingface.co/IPEC-COMMUNITY).

- **Visualization:** [LeRobot](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=cadene%2Fdroid&episode=0)
- **Homepage:** [Droid](https://droid-dataset.github.io)
- **Paper:** [Arxiv](https://arxiv.org/abs/2403.12945)
- **License:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):
```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:**

```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}
}
```