---
license: mit
task_categories:
  - robotics
tags:
  - LeRobot
  - droid
  - franka
  - robotics
  - manipulation
configs:
  - config_name: default
    data_files: data/*/*.parquet
---

# DROID (filtered) — LeRobot v2.1

A filtered subset of the [DROID](https://droid-dataset.github.io/) robot manipulation
dataset, converted to the [LeRobot](https://github.com/huggingface/lerobot) v2.1 format.

## Summary

| Field            | Value                                              |
|------------------|----------------------------------------------------|
| Codebase version | v2.1                                               |
| Robot            | Franka (7-DoF, EEF-delta control)                  |
| FPS              | 15                                                 |
| Episodes         | 91,070                                             |
| Frames           | 24,442,634                                         |
| Tasks            | 31,308                                             |
| Videos           | 273,210 (3 camera views per episode)              |
| Chunks           | 92 (chunk size 1000)                               |

## Features

- **Cameras** (3× `160×256×3`, h264): `observation.images.primary` (exterior),
  `observation.images.secondary` (exterior), `observation.images.wrist`.
- **`action`**: 7-D `[x, y, z, roll, pitch, yaw, gripper]` end-effector **delta**,
  pre-normalized to ~`[-1, 1]` (gripper `[0, 1]`). An `absolute_action` (also 7-D) is
  present but unused.
- **`observation.state`**: 8-D (index 6 = pad, index 7 = gripper).
- **Language**: task text via `task_index` → `meta/tasks.jsonl`.

`meta/stats.json` carries per-feature `min/max/mean/std/q01/q99` for normalization.

## Layout

```
data/chunk-{NNN}/episode_{NNNNNN}.parquet
videos/chunk-{NNN}/{video_key}/episode_{NNNNNN}.mp4
meta/{info,stats,episodes,episodes_stats,tasks,modality}.json[l]
```

## Loading

```python
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("periphanes/droid_filter_lerobot")
```

## License & attribution

DROID is released under the MIT license. Please cite the original DROID work
(Khazatsky et al., *DROID: A Large-Scale In-the-Wild Robot Manipulation Dataset*).
This repository is a filtered, format-converted redistribution for research use.