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--- |
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license: apache-2.0 |
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task_categories: |
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- robotics |
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tags: |
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- LeRobot |
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- openx |
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configs: |
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- config_name: default |
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data_files: data/*/*.parquet |
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language: |
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- en |
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size_categories: |
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- 10M<n<100M |
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--- |
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
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## DROID: A Large-Scale In-the-Wild Robot Manipulation Dataset |
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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. |
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Ported from Tensorflow Dataset format (2TB) to LeRobotDataset format (400GB) with the help from [IPEC-COMMUNITY](https://huggingface.co/IPEC-COMMUNITY). |
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- **Visualization:** [LeRobot](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=cadene%2Fdroid&episode=0) |
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- **Homepage:** [Droid](https://droid-dataset.github.io) |
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- **Paper:** [Arxiv](https://arxiv.org/abs/2403.12945) |
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- **License:** apache-2.0 |
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## Dataset Structure |
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[meta/info.json](meta/info.json): |
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```json |
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{ |
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"codebase_version": "v2.1", |
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"robot_type": "franka", |
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"total_episodes": 92233, |
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"total_frames": 27044326, |
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"total_tasks": 0, |
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"total_videos": 92233, |
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"total_chunks": 0, |
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"chunks_size": 1000, |
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"fps": 15, |
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"splits": { |
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"train": "0:92233" |
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}, |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
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"features": { |
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"observation.images.exterior_image_2_left": { |
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"dtype": "video", |
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"shape": [ |
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180, |
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320, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"rgb" |
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], |
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"info": { |
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"video.fps": 15.0, |
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"video.height": 180, |
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"video.width": 320, |
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"video.channels": 3, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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} |
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}, |
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"observation.images.exterior_image_1_left": { |
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"dtype": "video", |
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"shape": [ |
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180, |
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320, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"rgb" |
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], |
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"info": { |
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"video.fps": 15.0, |
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"video.height": 180, |
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"video.width": 320, |
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"video.channels": 3, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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} |
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}, |
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"observation.images.wrist_image_left": { |
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"dtype": "video", |
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"shape": [ |
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180, |
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320, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"rgb" |
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], |
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"info": { |
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"video.fps": 15.0, |
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"video.height": 180, |
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"video.width": 320, |
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"video.channels": 3, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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} |
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}, |
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"observation.state": { |
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"dtype": "float32", |
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"shape": [ |
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8 |
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], |
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"names": { |
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"motors": [ |
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"x", |
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"y", |
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"z", |
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"rx", |
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"ry", |
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"rz", |
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"rw", |
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"gripper" |
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] |
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} |
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}, |
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"action": { |
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"dtype": "float32", |
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"shape": [ |
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7 |
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], |
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"names": { |
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"motors": [ |
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"x", |
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"y", |
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"z", |
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"roll", |
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"pitch", |
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"yaw", |
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"gripper" |
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] |
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} |
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}, |
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"timestamp": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"frame_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"episode_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"index": { |
|
"dtype": "int64", |
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"shape": [ |
|
1 |
|
], |
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"names": null |
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}, |
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"task_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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} |
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} |
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} |
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``` |
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## Citation |
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**BibTeX:** |
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```bibtex |
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@article{khazatsky2024droid, |
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title={Droid: A large-scale in-the-wild robot manipulation dataset}, |
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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}, |
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journal={arXiv preprint arXiv:2403.12945}, |
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year={2024} |
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} |
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``` |
