DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset

Mar 25, 2024·
Alexander Khazatsky
,
Karl Pertsch
,
Suraj Nair
,
Ashwin Balakrishna
,
Sudeep Dasari
,
Siddharth Karamcheti
,
Soroush Nasiriany
,
Mohan Kumar Srirama
,
Lawrence Yunliang Chen
,
Kirsty Ellis
,
Peter David Fagan
,
Joey Hejna
,
Masha Itkina
,
Marion Lepert
,
Jason Ma
,
Patrick Tree Miller
,
Jimmy Wu
,
Suneel Belkhale
,
Shivin Dass
,
Huy Ha
,
Abraham Lee
,
Youngwoon Lee
,
Arhan Jain
,
Marius Memmel
,
Sungjae Park
,
Ilija Radosavovic
,
Kaiyuan Wang
,
Albert Zhan
,
Kevin Black
,
Cheng Chi
,
Kyle Hatch
,
Shan Lin
,
Jingpei Lu
,
Abdul Rehman
,
Pannag R Sanketi
,
Archit Sharma
,
Cody Simpson
,
Quan Vuong
,
Homer Walke
,
Blake Wulfe
,
Ted Xiao
,
Jonathan Yang
,
Arefeh Yavary
,
Tony Z. Zhao
,
Christopher Agia
,
Rohan Baijal
,
Mateo Guaman Castro
,
Daphne Chen
,
Qiuyu Chen
,
Trinity Chung
,
Jaimyn Drake
,
Ethan Paul Foster
,
Jensen Gao
,
David Antonio Herrera
,
Minho Heo
,
Kyle Hsu
,
Jiaheng Hu
,
Donovon Jackson
,
Charlotte Le
,
Yunshuang Li
,
Kevin Lin
,
Roy Lin
,
Zehan Ma
,
Abhiram Maddukuri
,
Suvir Mirchandani
,
Daniel Morton
,
Tony Nguyen
,
Abby O’Neill
,
Rosario Scalise
,
Derick Seale
,
Victor Son
,
Stephen Tian
,
Andrew Wang
,
Yilin Wu
,
Annie Xie
,
Jingyun Yang
,
Patrick Yin
,
Yunchu Zhang
,
Osbert Bastani
,
Glen Berseth
,
Jeannette Bohg
,
Ken Goldberg
,
Abhinav Gupta
,
Dinesh Jayaraman
,
Joseph J. Lim
,
Jitendra Malik
,
Roberto Martín-Martín
,
Subramanian Ramamoorthy
,
Dorsa Sadigh
,
Shuran Song
,
Jiajun Wu
,
Yuke Zhu
,
Thomas Kollar
,
Sergey Levine
,
Chelsea Finn
· 0 min read
Visualization of diverse scenes and tasks in the DROID dataset.
Abstract
We introduce DROID (Distributed Robot Interaction Dataset), a large-scale, diverse robot manipulation dataset featuring 76k demonstration trajectories or 350 hours of interaction data across 564 scenes and 86 tasks. Collected by 50 data collectors over 12 months in various locations, DROID aims to enhance policy performance and generalization in robot manipulation tasks. We provide the full dataset, policy learning code, and a guide for reproducing our hardware setup. DROID sets a new standard in dataset diversity and quality for training robust robotic manipulation policies.
Publication
In RSS 2024