THULab/droid_trajectories_5k

DROID Visual Trajectories 5K TsFile

This dataset is a TsFile conversion of ASethi04/droid-trajectories-5k, the DROID Visual Trajectories dataset in LeRobot format. The source dataset contains visual object trajectories extracted from 4,506 DROID episodes using Gemini Robotics-ER and SAM2.

The robot data and referenced videos come from cadene/droid_1.0.1. Images and videos are not embedded here; the converted table preserves the droid_video_* path fields that point to the original DROID video files.

Dataset Details

• Modalities: Time-series
• Source robot type: panda
• Split: train
• Episodes: 4,506
• Frames / TsFile rows: 943,315
• Unique tasks: 1,429
• Source chunks: 5
• Sampling rate: 15 fps
• Converted file: data/droid_trajectories_5k.tsfile
• Table name: droid_trajectories_5k

TsFile Schema

Time is an INT64 millisecond timestamp synthesized as round(timestamp * 1000) from the source timestamp seconds column.

TAG columns:

• episode_index
• task_index

FIELD columns:

• Episode/frame metadata: frame_index, sample_index, droid_episode_id
• Task/video references: language_instruction, droid_video_exterior_1_left, droid_video_exterior_2_left, droid_video_wrist_left
• Robot state/action: gripper_position, joint_position_0..6, actions_0..7
• Visual trajectory: trajectory_center_x, trajectory_center_y, trajectory_xyxy_0..3, trajectory_labels

Conversion Notes

• The source timestamp column is dropped because it is represented by the TsFile Time column in milliseconds.
• The source index column is renamed to sample_index.
• Fixed-width numeric vectors are flattened into scalar FLOAT fields: joint_position[7], actions[8], and trajectory_xyxy[4].
• trajectory_labels is preserved as a JSON string because the source column is a variable-length list[string].
• No numeric time-series rows are intentionally dropped.
• Video files are not uploaded. Use the preserved droid_video_* fields with cadene/droid_1.0.1 to fetch the original videos.

Minimal Read Example

tsfile_path = "data/droid_trajectories_5k.tsfile"
table_name = "droid_trajectories_5k"

# Read the file with the Apache TsFile Java or Python SDK.
# Query a single episode with the episode_index TAG, for example:
# SELECT * FROM droid_trajectories_5k WHERE episode_index = 0

Source

• Converted from: https://huggingface.co/datasets/ASethi04/droid-trajectories-5k
• Original DROID data and videos: https://huggingface.co/datasets/cadene/droid_1.0.1
• Source license: Apache-2.0