README.md

metadata

license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - droid
  - openpi
  - federated-learning

droid8 (openpi format)

38,979 episodes of DROID for an 8-client federated-learning study: each client is one DROID building (the 8 buildings with the most usable episodes) with all its usable episodes (successful, a real language instruction, >= 2 s). 9,601,563 frames at 15 Hz, 25,686 distinct instructions.

client	building	episodes	episode_index range
c0	Gates	8,863	0–8862
c1	TRI	5,665	8863–14527
c2	BWW	5,051	14528–19578
c3	KAIST	4,699	19579–24277
c4	BAIR	3,976	24278–28253
c5	Autolab	3,981	28254–32234
c6	403 Fairmont	3,493	32235–35727
c7	RAIL	3,251	35728–38978

Download

LeRobot v2.1 stores one file per episode per camera (~117k files), so the episodes ship as 39 tar shards (shards/droid8_chunk-XXX.tar, uncompressed: data + videos of 1,000 episodes each). Unpack them into the dataset root:

import glob, os, tarfile
from huggingface_hub import snapshot_download
d = os.path.join(os.environ["HF_LEROBOT_HOME"], "DecentVLA/droid8_openpi")
snapshot_download("DecentVLA/droid8_openpi", repo_type="dataset", local_dir=d, max_workers=8)
for t in sorted(glob.glob(f"{d}/shards/*.tar")):
    with tarfile.open(t) as tf:
        tf.extractall(d, filter="data")
    os.remove(t)

Contents

• Source: lerobot/droid_1.0.1 (DROID 1.0.1, Apache-2.0). Per-client source episode indices: meta/decent_vla_clients.json. Note: in that release the data files' episode_index column is not unique (42,644 values name two different episodes in two files); episodes here were taken by DROID's own episode table (global index in [dataset_from_index, dataset_to_index) of each episode's data file) and re-indexed 0..N-1.
• Format (after unpacking): LeRobot v2.1 as read by openpi's pinned lerobot. Videos exterior_image_1_left (← exterior_1_left) and wrist_image_left are 180x320 AV1. joint_position (7) and gripper_position (1); actions (8) = ABSOLUTE joint-position targets + gripper position; task = language_instruction.
• Norm stats: assets/droid8/norm_stats.json (openpi format), for the joint-position recipe. State = joints + gripper; actions = 15-step chunks with the 7 joints as deltas to the current state.
• Made by: decent-vla scripts/droid_to_openpi.py (commit 69c379f, tag droid8-v1). Recipe: adapters/openpi/_droid.py (train_config: pi05_droid_jointpos). Runbook: examples/droid/README_droid8.md.

Please cite DROID (Khazatsky et al., "DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset", RSS 2024).