droid/subtask_split/README.md

metadata

license: cc-by-4.0
task_categories:
  - robotics
tags:
  - robot-manipulation
  - point-tracking
  - 3d
  - multi-view
  - subtask-segmentation
pretty_name: >-
  DROID subtask split — per-subtask temporal segmentation of DROID 3D
  point-track episodes

DROID subtask split

droid/subtask_split/ is a per-subtask temporal split of the DROID 3D point-track episodes. Each DROID episode is cut into its constituent subtasks along the time axis, so one episode becomes an ordered sequence of subtask clips — each with its own natural-language instruction, primitive-skill label, and its own temporally-sliced 3D point tracks, video, and calibration. Every subtask clip is a complete, self-contained sample in the exact same format as a normal DROID episode.

Coverage

• 28,308 episodes, 89,312 subtasks (avg 3.16 subtasks/episode; per-episode subtask counts range 1–39, mode 3).
• 12 tar shards subtask_split-000.tar … subtask_split-011.tar, ~327 GB total (eleven ~29.5 GB shards + a ~2.4 GB tail). All shards are under HF's 50 GB limit, so each extracts directly — no .part reassembly.
• 15 primitive skills (subtask count): pick 26,195 · transfer 25,000 · place 24,379 · push 3,116 · press 2,356 · pull 2,045 · slide 1,253 · fold 1,183 · manipulate 1,160 · pour 1,023 · throw 698 · twist 672 · insert 153 · shake 57 · strike 22.

manifest.json maps every episode → shard and lists each episode's per-subtask frame_range, primitive_skill, subtask instruction text, episode-level instruction_add, and RoboInter provenance — so you can index the whole split without untarring.

Layout

Each episode dir holds one subdir per subtask (mirrors robocasa/subtask_split/; only the subtask_XX/ folders are shipped, not the un-split episode files):

<episode_id>/
  subtask_00/   view1.mp4  view2.mp4  robot.npz  gripper.npz  meta.json
  subtask_01/   ...
  ...

<episode_id> is the DROID id (<lab>+<hash>+<timestamp>). Every subtask_XX/ is a complete sample in the standard format:

• view1.mp4, view2.mp4 — the two exterior ZED views, re-encoded per subtask (libx264, crf 18, visually lossless).
• robot.npz — points: (T, 512, 3) float32, Franka Panda arm (non-gripper) CAD surface points from joint FK.
• gripper.npz — points: (T, 256, 3) float32, Robotiq 2F-85 CAD surface points.
• All 3D points are in the view1 camera frame (OpenCV convention: +x right, +y down, +z forward; meters), identical to the parent dataset. world_frame is the DROID robot base; T_cam_world maps base-frame points into the camera.
• meta.json carries the standard DROID calibration (per-view intrinsics and T_cam_world 4×4 with extrinsics_convention: "cam_from_world"), plus a subtask block: subtask_idx, n_subtasks, lang (the subtask instruction), primitive_skill, frame_range ([start, end) into the original episode), instruction_add (the whole-episode instruction), orig_id, orig_n_frames, and RoboInter provenance (roboint_index, roboint_key, annotation_source). The top-level meta.json → lang is the subtask instruction and n_frames is the subtask length T. DROID cameras are a static rig, so the single T_cam_world per view is exact at every frame.

Lossless reconstruction

The subtasks tile the original episode's [0, n_frames) contiguously — no gaps, no overlap. Concatenating an episode's subtask_00 … subtask_k in order exactly reconstructs the original: the .npz point arrays are byte-identical (np.array_equal) to the un-split episode, and Σ subtask n_frames == original n_frames. This was verified per-episode at build time (a build marker was written only after the concatenation matched the original byte-for-byte). Videos are re-encoded per subtask at crf 18 (visually lossless; the point tracks + calibration are the exact, bit-preserved data).

Rebuild an original episode's tracks:

import numpy as np, glob
sds = sorted(glob.glob(f"{ep}/subtask_*"))
robot = np.concatenate([np.load(f"{s}/robot.npz")["points"] for s in sds])   # == original robot.npz
gripper = np.concatenate([np.load(f"{s}/gripper.npz")["points"] for s in sds]) # == original gripper.npz

Annotation source

The per-subtask segmentation (time boundaries, subtask instruction, primitive-skill label) comes from InternRobotics/RoboInter-Data (InternRobotics; MIT license), Annotation_pure. Please cite RoboInter-Data if you use these subtask annotations. Each subtask's meta.json → subtask records the exact roboint_index and roboint_key it came from.

Join key: annotations are joined 1:1 to DROID episodes on the DROID lab + timestamp (i.e. the episode id).

Base data & licenses

The underlying episodes, video, calibration, and 3D point tracks are the DROID split of this dataset (derived from DROID, CC-BY-4.0). The subtask segmentation adds the RoboInter-Data annotations (MIT) on top. See the top-level README.md for the full point-track format and the visualizer (tools/visualize_episode.py).