Datasets:

Salesforce
/

3d_optical_flow_droid

license: mit
task_categories:
  - robotics
  - computer-vision
tags:
  - robotics
  - optical-flow
  - scene-flow
  - 3d-vision
  - manipulation
size_categories:
  - 10K<n<100K

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/ - Depth maps
- optical_flow_with_mask/ - 2D optical flow
- scene_flow/ - 3D scene flow

Usage

from huggingface_hub import hf_hub_download
import tarfile

# Download specific trajectory
tar_path = hf_hub_download(
    repo_id="Salesforce/3d_optical_flow_droid",
    filename="IPRL/IPRL+2023-06-19+Mon_Jun_19_23:27:48_2023.tar.gz",
    repo_type="dataset"
)

# Extract
with tarfile.open(tar_path, "r:gz") as tar:
    tar.extractall("./data")

Stats

Trajectories: ~33,108
Size: ~26 TB (compressed)
Labs: 15 robotics labs
Frames: ~600-700 per trajectory

Citation

@article{droid2024,
  title={DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset},
  year={2024}
}