Frame from the DROID dataset, DROID collaboration (Stanford, UC Berkeley), CC BY 4.0.
CC BY 4.0
The publisher's licence permits commercial use and redistribution, with attribution. Stated by the authors in the DROID paper, section III.
gsutil -m cp -r gs://gresearch/robotics/droid_100 .droid_100 is the 100-episode sample; the full set is gs://gresearch/robotics/droid (1.7 TB).
Specification, as published
- Hours (stated)
- 350 h
- Episodes (stated)
- 76,000 episodes
- Scale
- 76k demonstration trajectories or 350h of interaction data, collected across 564 scenes and 86 tasks
- Task
- Pick & place, Tidying & put-away, Cooking & food prep, Cleaning, Other
- Environment
- Indoor – lab, Indoor – office, Indoor – home
- Modality
- RGB, Stereo, Depth, Proprioception, Actions, Language
- Capture
- CCTV Scene
- In frame
- Robot hands
- Captured in
- Multiple regions
- Embodiment
- Franka Panda 7DoF arm
- Frame rate
- 15 fps
- Resolution
- 320x180 (RLDS); raw stereo HD in MP4/SVO
- Formats
- RLDS/TFRecord, MP4, Other
- Size
- 1.7 TB (RLDS); 8.7 TB raw stereo HD; 5.6 TB raw non-stereo
- Hosted on
- Google Cloud Storage
Figures are the publisher's own. Kinetic Blocks has not measured this dataset.
About this dataset
DROID is a multi-institution manipulation corpus recorded on a standardised Franka Panda cart with two external Zed 2 stereo cameras and a wrist-mounted Zed Mini. Fifty collectors in North America, Asia and Europe gathered 76k demonstrations over 12 months across 564 scenes in 52 buildings, covering 86 task types. Data is offered as RLDS for training and as raw MP4 and SVO files for anyone who needs full-resolution stereo or depth.
Publisher's own task names: 86 tasks, tabletop manipulation, in-the-wild manipulation.
What Kinetic Blocks did, and did not do
Indexed and linked from the publisher. Not hosted, verified or graded by Kinetic Blocks. The publisher's terms govern. The licence shown is the one stated on the publisher's page, linked above. Nothing on this page is a claim by Kinetic Blocks.
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