DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
Mar 25, 2024·,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,·
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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
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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