| --- |
| license: mit |
| task_categories: |
| - robotics |
| tags: |
| - robotics |
| - manipulation |
| - droid |
| - lerobot |
| - imitation-learning |
| size_categories: |
| - 10B<n<100B |
| --- |
| |
| # DROID 1.0.1 — native 720p, packed (LeRobot v3.0) |
|
|
| A **native 1280×720** re-encode of the [DROID](https://droid-dataset.github.io/) robot-manipulation |
| dataset in **LeRobot v3.0** format, with videos **packed into ~500 MB files** like the original |
| [`lerobot/droid_1.0.1`](https://huggingface.co/datasets/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 full **1280×720** frames decoded from the original DROID raw MP4s |
| (left-eye mono per camera). |
| |
| ## What's different from `lerobot/droid_1.0.1` |
|
|
| | | `lerobot/droid_1.0.1` | this dataset | |
| |---|---|---| |
| | Video resolution | 320×180 | **1280×720** (native) | |
| | Codec | h264 | h264 (CRF 20) | |
| | GOP / keyframes | sparse | **g=2** (dense — fast random-access decode) | |
| | Episodes | 95,658 | **72,112** (only those with public raw video) | |
| | Video packing | packed (~500 MB files) | packed (~500 MB files) | |
| | Tabular data | full | identical | |
|
|
| Everything else — feature schema, fps (15), robot state/action tensors, camera extrinsics, task |
| instructions, episode structure — matches `droid_1.0.1`. Each per-episode video has exactly `length` |
| frames (frame-exact with the tabular data). |
|
|
| ## Coverage & indexing |
|
|
| Only the **72,112 / 95,658** episodes with publicly available DROID raw video are included (the rest are |
| absent from the public raw bucket). Episodes are **re-indexed 0…72,111**; `index_to_droid_1_0_1.json` |
| maps each new index back to its original `droid_1.0.1` episode index. |
|
|
| ## Usage |
|
|
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| ds = LeRobotDataset("XinxuanLuM/droid_720p", video_backend="pyav") |
| frame = ds[0] # observation.images.{wrist_left,exterior_1_left,exterior_2_left} at 720×1280 |
| ``` |
|
|
| A lower-resolution **640×360** packed variant is available at |
| [`XinxuanLuM/droid_360p`](https://huggingface.co/datasets/XinxuanLuM/droid_360p). |
|
|
| ## Provenance & license |
|
|
| Derived from the DROID dataset (Khazatsky et al., 2024) and `lerobot/droid_1.0.1`. Please cite DROID and |
| respect its terms. Re-encode & repackaging only; no new annotations. |
|
|
