DROID (LeRobot v3) for FreeAct

This repository contains the DROID dataset converted to the LeRobot v3 format, as used by FreeAct (NeurIPS 2026) for latent action model training (stage 1), VLA pretraining (stage 2) and the latent action analysis (RQ1).

Splits

Episodes are grouped by the number of exterior cameras and by whether camera extrinsics are available. The *_cam splits include the extrinsics needed to express end-effector motion in the camera frame; FreeAct uses them to supervise the Action Decoder of its latent action model.

Split	Exterior cameras	Camera extrinsics	Episodes	Frames	Size
dual_cam	exterior_1_left, exterior_2_left	✓	23,715	6,728,221	76 GB
single_cam	exterior_0_left	✓	13,439	3,867,376	23 GB
dual	exterior_1_left, exterior_2_left	–	36,470	10,070,315	114 GB
single	exterior_0_left	–	13,439	3,867,376	22 GB

single contains the same episodes as single_cam without the extrinsics. All splits are recorded at 15 fps with 180 × 320 images on a Franka robot, and keep DROID's language instructions, Cartesian and joint states, and the original actions (action.original).

Download

# Calibrated splits only (about 100 GB), sufficient for the RQ1 analysis
hf download Mo-ZheHan/droid --repo-type dataset --include '*_cam/*' --local-dir data/droid
# All splits (about 235 GB), used by the stage-1 and stage-2 launchers
hf download Mo-ZheHan/droid --repo-type dataset --local-dir data/droid

Citation

Please cite DROID if you use this data:

@inproceedings{khazatsky2024droid,
  title     = {{DROID}: A Large-Scale In-The-Wild Robot Manipulation Dataset},
  author    = {Khazatsky, Alexander and Pertsch, Karl and Nair, Suraj and others},
  booktitle = {Proceedings of Robotics: Science and Systems},
  year      = {2024},
  doi       = {10.15607/RSS.2024.XX.120}
}

If you use it together with FreeAct, please also cite:

@inproceedings{mo2026freeact,
  title     = {FreeAct: Demonstration-Free Robot Adaptation via Action-Grounded Generated Videos},
  author    = {Mo, Zhe-Han and Li, Jia-Ning and Song, Jiaxi and Guo, Meng-Hao and Hu, Shi-Min},
  booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
  year      = {2026}
}

License

DROID is released by its authors under the CC BY 4.0 license, and this conversion is distributed under the same license. Changes from the original release: conversion to the LeRobot v3 format and regrouping of the episodes into the four splits above.