datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
droid_1.0.1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "Franka",
"total_episodes": 95658,
"total_frames": 27630375,
"total_tasks": 49630,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 15,
"splits": {
"train": "0:95658"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/droid_1.0.1.thinking_droid_lerobot_output_qwen3vldroid_1.0.1_v30This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "Franka",
"total_episodes": 95584,
"total_frames": 27607757,
"total_tasks": 49596,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 15,
"splits": {
"train": "0:95584"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/cadene/droid_1.0.1_v30.droid_100This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 100,
"total_frames": 32212,
"total_tasks": 47,
"total_videos": 300,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/droid_100.droid_1.0.1_testThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "Franka",
"total_episodes": 95658,
"total_frames": 27630375,
"total_tasks": 49630,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:95658"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/aractingi/droid_1.0.1_test.MolmoAct2-DROID-Dataset
MolmoAct2-DROID Dataset
This dataset was created using LeRobot.
Language Annotations
This dataset includes annotated language instructions in meta/tasks_annotated.parquet. The file is indexed by episode_index and has a task column containing our per-episode annotated instruction.
The standard LeRobot loader resolves a frame's language instruction through task_index: each data row stores a task_index, which is looked up in meta/tasks.parquet. When you use these… See the full description on the dataset page: https://huggingface.co/datasets/allenai/MolmoAct2-DROID-Dataset.droid_1.0.1_v30This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "Franka",
"total_episodes": 95658,
"total_frames": 27630375,
"total_tasks": 49630,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 15,
"splits": {
"train": "0:95658"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/muacha/droid_1.0.1_v30.droid_v3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "Franka",
"total_episodes": 95658,
"total_frames": 27630375,
"total_tasks": 49630,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:95658"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/DAVIAN-Robotics/droid_v3.droid_1.0.1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "Franka",
"total_episodes": 95658,
"total_frames": 27630375,
"total_tasks": 49630,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 15,
"splits": {
"train": "0:95658"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/aractingi/droid_1.0.1.droid_120_stsg_bboxesdroid_1.0.1droid_overlay_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 5289,
"total_frames": 862822,
"total_tasks": 3076,
"total_videos": 0,
"total_chunks": 6,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:5289"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/brandonyang/droid_overlay_v2.custom_droid_datasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 42,
"total_frames": 11502,
"total_tasks": 12,
"total_videos": 84,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:42"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/mousecpn/custom_droid_dataset.droid_overlay_fullThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 3776,
"total_frames": 995769,
"total_tasks": 3010,
"total_videos": 0,
"total_chunks": 4,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:3776"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/brandonyang/droid_overlay_full.droid_dataset_segmentation_mask
DROID SAM 3.1 Segmentation Masks
This dataset is a mask-only sidecar generated from the original
droid_101/0.0.1 RLDS release. It does not redistribute DROID images or
actions. Its episode_index follows the RLDS episode order.
The same episodes appear in lerobot/droid_1.0.1, but LeRobot stores them in a
different episode order. Therefore, mask episode_index and LeRobot
episode_index must not be joined directly. Use the mapping file described
below to associate these masks with… See the full description on the dataset page: https://huggingface.co/datasets/EpicPinkPenguin/droid_dataset_segmentation_mask.droid_2000This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 1,
"total_frames": 167,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:1"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/brandonyang/droid_2000.droid_1.0.1This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "Franka",
"total_episodes": 95617,
"total_frames": 27618651,
"total_tasks": 49611,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 15,
"splits": {
"train": "0:95617"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/ygtxr1997/droid_1.0.1.droid-object-stackingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "panda",
"total_episodes": 39,
"total_frames": 15429,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:39"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jaehyeokdoo2/droid-object-stacking.droid-trajectories-5k
DROID Visual Trajectories (5K Episodes) — LeRobot Format
Visual object trajectories extracted from 4506 episodes of the
DROID dataset using
Gemini Robotics-ER + SAM2.
How to load images/videos
Images are not embedded in this dataset. Each row contains reference paths
to the source videos in cadene/droid_1.0.1:
from datasets import load_dataset
from huggingface_hub import hf_hub_download
ds = load_dataset("ASethi04/droid-trajectories-5k", split="train")
row =… See the full description on the dataset page: https://huggingface.co/datasets/ASethi04/droid-trajectories-5k.droid_1.0.1
DROID 1.0.1 for pi05 training: successful, non-idle segments
lerobot/droid_1.0.1 rewritten twice, videos untouched. First
augment_droid_delta_ee_gripper_events.py (lerobot_policy_framepick) added action.delta_ee,
observation.extrinsics.static1/static2/wrist1 and the observation.gripper.time_* columns;
the flat action is the delta-EE command and the flat observation.state the EE state. Then
benchmarks/robolab/augment_droid_dataset.py (this revision) mirrored the data pipeline of… See the full description on the dataset page: https://huggingface.co/datasets/dgrachev/droid_1.0.1.droid-failure-sampled
DROID Robot Manipulation Dataset (Sampled)
数据集概述
这是从 DROID 1.0.1 数据集中采样的机器人操作失败案例子集。
总样本数: 2064
数据类型: failure
采样策略: balanced
视频格式: MP4, 60fps, 1280x720
数据集结构
hg_data/
├── videos/ # 视频文件
│ ├── 0000.mp4
│ ├── 0001.mp4
│ └── ...
├── metadata/ # 元数据文件
│ ├── 0000.json
│ ├── 0001.json
│ └── ...
├── dataset_info.json # 数据集总体信息
└── README.md # 本文件
任务类别分布
任务类别
数量
占比
Open a drawer and take some items out
4… See the full description on the dataset page: https://huggingface.co/datasets/JiaaqiLiu/droid-failure-sampled.SemanticVLA-TraceX-240K-DROID
SemanticVLA TraceX 240K · DROID
🎉 Accepted to CVPR 2026.
✍️ Fei Ni¹, Zhuo Chen², Yifu Yuan³, Zibin Dong³, Xianze Yao³, Shan Luo², Jianye Hao³, Jiankang Deng¹†, Stefanos Zafeiriou¹†
🏫 ¹Imperial College London ²King's College London ³Tianjin University
✉️ Primary contact: f.ni@imperial.ac.uk
The DROID component of TraceX-240K — the trace-annotated trajectory corpus introduced in SemanticVLA. This package is a LeRobot v3.0 repack of DROID · Franka · Open-X-Embodiment DROID… See the full description on the dataset page: https://huggingface.co/datasets/spikefly/SemanticVLA-TraceX-240K-DROID.droid-pnp-cube-stackingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "panda",
"total_episodes": 25,
"total_frames": 13595,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:25"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jaehyeokdoo2/droid-pnp-cube-stacking.droid_1.0.1_trajectory_overlayThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 4444,
"total_frames": 930500,
"total_tasks": 1424,
"total_videos": 0,
"total_chunks": 5,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:4444"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/brandonyang/droid_1.0.1_trajectory_overlay.droid-object-stacking-prelimThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "panda",
"total_episodes": 61,
"total_frames": 14316,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:61"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jaehyeokdoo2/droid-object-stacking-prelim.droid_120_stsg_bboxes_v4DROID_bench_alldroid_72This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 71,
"total_frames": 14894,
"total_tasks": 71,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:71"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/brandonyang/droid_72.open_drawer_droidThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 10,
"total_frames": 2646,
"total_tasks": 6,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:10"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/mousecpn/open_drawer_droid.droid_120This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 1,
"total_frames": 187,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:1"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/brandonyang/droid_120.