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": "v2.1",
"robot_type": "Franka",
"total_episodes": 95600,
"total_frames": 27612581,
"total_tasks": 0,
"total_videos": 286800,
"total_chunks": 95,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:95600"
},
"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/cadene/droid_1.0.1.droid_lerobotThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "franka",
"total_episodes": 92233,
"total_frames": 27044326,
"total_tasks": 31308,
"total_videos": 276699,
"total_chunks": 93,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:92233"
},
"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/IPEC-COMMUNITY/droid_lerobot.droidThis 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:
{… See the full description on the dataset page: https://huggingface.co/datasets/cadene/droid.DreamZero-DROID-DataCosmos3-DROID
DROID: Distributed Robot Interaction Dataset
Dataset Summary
DROID (Distributed Robot Interaction Dataset) is a large-scale "in-the-wild" robot manipulation dataset containing 76K teleoperated demonstration trajectories — approximately 350 hours of interaction data — collected across 564 unique scenes, 86 tasks, and 52 buildings over the course of 12 months. The data was collected by 50 data collectors at 18 labs across 13 institutions in North America, Asia, and… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/Cosmos3-DROID.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_1.0.1.3d_optical_flow_droid
3D Optical Flow DROID Dataset
Processed DROID robotics dataset with optical flow and scene flow annotations.
Dataset Structure
Organized by lab, each trajectory in separate tar.gz archive:
IPRL/IPRL+2023-06-19+Mon_Jun_19_23:27:48_2023.tar.gz
CLVR/CLVR+2023-...tar.gz
... (15 labs, ~33K trajectories)
Each trajectory contains:
metadata.json - Trajectory metadata
trajectory.h5 - Robot state and actions
camera_left/, camera_right/ - Camera data
rgb/ - RGB images
depth/ -… See the full description on the dataset page: https://huggingface.co/datasets/Salesforce/3d_optical_flow_droid.droid_rawusam-droiddroid_seg_00_of_09_rawPointWorld-DROID
PointWorld-DROID
Dataset Description:
PointWorld-DROID is the packaged DROID-derived annotation release used for training and evaluating the 3D world model, PointWorld. It contains precomputed 3D annotations derived from the official DROID dataset, including episode-level 3D point trajectories, optimized camera metadata, optional downsampled depth, and the released expert confidence artifact used by the PointWorld DROID evaluation pipeline.
This dataset is for research… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PointWorld-DROID.rbo_oxe_base_droid_lerobotThis dataset is a pruned, one-camera subset of the original
IPEC-COMMUNITY/droid_lerobot:
Removed episodes with empty task text (e.g., "tasks": [""]).
Grouped by task string and kept ≤ 4 episodes per unique task.
For each kept episode, kept exactly one camera stream, chosen at random from{observation.images.exterior_image_1_left, observation.images.exterior_image_2_left, observation.images.wrist_image_left},
and unified it under the single key observation.images.image.
Reindexed episodes to… See the full description on the dataset page: https://huggingface.co/datasets/saaduddinM/rbo_oxe_base_droid_lerobot.droid-24k-external-svodroid_filter_lerobot
DROID (filtered) — LeRobot v2.1
A filtered subset of the DROID robot manipulation
dataset, converted to the LeRobot v2.1 format.
Summary
Field
Value
Codebase version
v2.1
Robot
Franka (7-DoF, EEF-delta control)
FPS
15
Episodes
91,070
Frames
24,442,634
Tasks
31,308
Videos
273,210 (3 camera views per episode)
Chunks
92 (chunk size 1000)
Features
Cameras (3× 160×256×3, h264): observation.images.primary (exterior)… See the full description on the dataset page: https://huggingface.co/datasets/periphanes/droid_filter_lerobot.AAWR-DROID
Active Perception AAWR Dataset in GRASP Lab Mock Kitchen
Paper | Project page | Code
Here is our full dataset (13.5GB) in DROID format:
https://huggingface.co/datasets/Everloom/AAWR-DROID/
It includes 4 scene as below, each are cleaned with a white list (filter the idle frames)
Sample Usage
To get started with AAWR, follow these steps for a toy simulated task, as described in the code repository:
Setup
Install Python dependencies: You can refer to… See the full description on the dataset page: https://huggingface.co/datasets/Everloom/AAWR-DROID.pi05_droid_activationthinking_droid_lerobot_output_qwen3vldroid-miscdroid_s3r_training_release_v1drifting-vla-v2-droidCRASAR-U-DROIDs
The CRASAR sUAS [D]isaster [R]esponse [O]verhead [I]nspection [D]ata[s]et
This repository contains the CRASAR-U-DROIDs dataset. This is a dataset of orthomosaic images with accompanying labels for building damage assessment and building polygon alignment. For specific documentation describing the data in this repository, please reference the publications section below.
This dataset contains 265 orthomosaics containing 122502 views of 21716 building polygons collected from 10… See the full description on the dataset page: https://huggingface.co/datasets/CRASAR/CRASAR-U-DROIDs.droid_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.droid_360p
DROID 1.0.1 — 640×360, packed (LeRobot v3.0)
A 640×360 re-encode of the DROID robot-manipulation dataset in
LeRobot v3.0 format, with videos packed into ~500 MB files like the original
lerobot/droid_1.0.1. It reuses droid_1.0.1's exact
tabular data (states / actions / camera extrinsics / task instructions) and replaces the low-resolution
(320×180) video with 640×360 frames decoded from the original DROID raw MP4s (left-eye mono per camera).
What's different from… See the full description on the dataset page: https://huggingface.co/datasets/XinxuanLuM/droid_360p.droid-pointflowdroid_split_00MolmoAct2-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 annotations… 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_raw_part_2