---
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.