periphanes/droid_filter_lerobot

DROID (filtered) — LeRobot v2.1

A filtered subset of the DROID robot manipulation dataset, converted to the 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

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.