---
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

```python
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

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