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droid

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Description DROID (Distributed Robot Interaction Dataset) is a large-scale, open-source dataset for robot manipulation collected across diverse real-world environments. It comprises 76k demonstration trajectories (~350 hours of interaction) collected over 12 months using Franka Panda arms across 564 scenes and 86 tasks, supporting generalist robot policy training.
Folder /datasets/ai/droid
Discipline AI / Robotics / PhysicalAI
DOI 10.15607/RSS.2024.XX.120
Link Access Data
Public True
Publication Date 2024
Downloaded 2026-07-10
Data Type TFRecords
Dataset Size Approx. 1.7TB per version (v1.0.0, v1.0.1; 3.4TB total)
Number of Files 76k trajectories, 2050 TFRecords
Usage 
$ module avail
$ module load datasets
$ module load ai/droid/2024
Usage Policy Link https://creativecommons.org/licenses/by/4.0/
Usage Policy Creative Commons Attribution 4.0 International (CC BY 4.0)
Citation Khazatsky, A., Pertsch, K., Nair, S., Balakrishna, A., Dasari, S., Singh, S., et al. (2024). DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset. In Proceedings of Robotics: Science and Systems (RSS 2024).
BibTeX
📜 View BibTeX citation
@inproceedings{Khazatsky-RSS-24,
  author    = {Alexander Khazatsky and Karl Pertsch and Suraj Nair and Ashwin Balakrishna and Sudeep Dasari and Siddharth Singh and Sicheng Liu and Anurag Ajay and Kota Kawaharazuka and Christian Zhang and others},
  title     = {DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset},
  booktitle = {Proceedings of Robotics: Science and Systems (RSS)},
  year      = {2024},
  month     = {July},
  address   = {Delft, Netherlands},
  doi       = {10.15607/RSS.2024.XX.120},
  url       = {https://www.roboticsproceedings.org/rss20/p120.html}
}

Ceph access

This dataset is also available in raw/extracted form on RCAC Ceph/S3-compatible object storage.

Parameter Value
Endpoint https://s3.anvil.rcac.purdue.edu
Bucket ai-datasets
Access Public read-only

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