RESEARCH PAPERYear 2024

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

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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; Yecheng Jason Ma; Patrick Tree Miller; Jimmy Wu; Suneel Belkhale; Shivin Dass; Huy Ha; Arhan Jain; Abraham Lee; Youngwoon Lee; Marius Memmel; Sungjae Park; Ilija Radosavovic; Kaiyuan Wang; Albert Zhan; Kevin Black; Cheng Chi; Kyle Beltran Hatch; Shan Lin; Jingpei Lu; Jean Mercat; Abdul Rehman; Pannag R. Sanketi; Archit Sharma; Cody Simpson; Quan Vuong; Homer Rich Walke; Blake Wulfe; Ted Xiao; Jonathan Heewon 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; Roy Lin; Zehan Ma; Abhiram Maddukuri; Suvir Mirchandani; Daniel Morton; Tony Nguyen; Abigail O'Neill; Rosario Scalise; Derick Seale; Victor Son; Stephen Tian; Emi Tran; Andrew E. Wang; Yilin Wu; Annie Xie; Jingyun Yang; Patrick Yin; Yunchu Zhang; Osbert Bastani; Glen Berseth; Jeannette Bohg; Ken Goldberg; Abhinav Gupta; Abhishek Gupta; Dinesh Jayaraman; Joseph J. Lim; Jitendra Malik; Roberto Mart\'ın-Mart\'ın; Subramanian Ramamoorthy; Dorsa Sadigh; Shuran Song; Jiajun Wu; Michael C. Yip; Yuke Zhu; Thomas Kollar; Sergey Levine; Chelsea Finn

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Classification

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Major category: Datasets
Quadrant: Not applicable
Architecture: Not applicable
Prediction paradigm: Not applicable
Subcategories: Robot demonstration & manipulation data Cross-robot & multitask data Data collection interfaces
Source review status: Verified from primary sources

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BibTeX

@inproceedings{droid,
  author       = {Alexander Khazatsky and
                  Karl Pertsch and
                  Suraj Nair and
                  Ashwin Balakrishna and
                  Sudeep Dasari and
                  Siddharth Karamcheti and
                  Soroush Nasiriany and
                  Mohan Kumar Srirama and
                  Lawrence Yunliang Chen and
                  Kirsty Ellis and
                  Peter David Fagan and
                  Joey Hejna and
                  Masha Itkina and
                  Marion Lepert and
                  Yecheng Jason Ma and
                  Patrick Tree Miller and
                  Jimmy Wu and
                  Suneel Belkhale and
                  Shivin Dass and
                  Huy Ha and
                  Arhan Jain and
                  Abraham Lee and
                  Youngwoon Lee and
                  Marius Memmel and
                  Sungjae Park and
                  Ilija Radosavovic and
                  Kaiyuan Wang and
                  Albert Zhan and
                  Kevin Black and
                  Cheng Chi and
                  Kyle Beltran Hatch and
                  Shan Lin and
                  Jingpei Lu and
                  Jean Mercat and
                  Abdul Rehman and
                  Pannag R. Sanketi and
                  Archit Sharma and
                  Cody Simpson and
                  Quan Vuong and
                  Homer Rich Walke and
                  Blake Wulfe and
                  Ted Xiao and
                  Jonathan Heewon Yang and
                  Arefeh Yavary and
                  Tony Z. Zhao and
                  Christopher Agia and
                  Rohan Baijal and
                  Mateo Guaman Castro and
                  Daphne Chen and
                  Qiuyu Chen and
                  Trinity Chung and
                  Jaimyn Drake and
                  Ethan Paul Foster and
                  Jensen Gao and
                  David Antonio Herrera and
                  Minho Heo and
                  Kyle Hsu and
                  Jiaheng Hu and
                  Donovon Jackson and
                  Charlotte Le and
                  Yunshuang Li and
                  Roy Lin and
                  Zehan Ma and
                  Abhiram Maddukuri and
                  Suvir Mirchandani and
                  Daniel Morton and
                  Tony Nguyen and
                  Abigail O'Neill and
                  Rosario Scalise and
                  Derick Seale and
                  Victor Son and
                  Stephen Tian and
                  Emi Tran and
                  Andrew E. Wang and
                  Yilin Wu and
                  Annie Xie and
                  Jingyun Yang and
                  Patrick Yin and
                  Yunchu Zhang and
                  Osbert Bastani and
                  Glen Berseth and
                  Jeannette Bohg and
                  Ken Goldberg and
                  Abhinav Gupta and
                  Abhishek Gupta and
                  Dinesh Jayaraman and
                  Joseph J. Lim and
                  Jitendra Malik and
                  Roberto Mart{\'{\i}}n{-}Mart{\'{\i}}n and
                  Subramanian Ramamoorthy and
                  Dorsa Sadigh and
                  Shuran Song and
                  Jiajun Wu and
                  Michael C. Yip and
                  Yuke Zhu and
                  Thomas Kollar and
                  Sergey Levine and
                  Chelsea Finn},
  title        = {{DROID:} {A} Large-Scale In-The-Wild Robot Manipulation Dataset},
  booktitle    = {RSS},
  year         = {2024},

}

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