XinxuanLuM/droid_720p

DROID 1.0.1 — native 720p (LeRobot v3.0)

A native-resolution (1280×720) re-encode of the DROID robot-manipulation dataset in LeRobot v3.0 format. It reuses the exact tabular data (states / actions / camera extrinsics / task instructions) of the public lerobot/droid_1.0.1, but replaces the low-resolution (320×180) video with full 1280×720 frames decoded from the original DROID raw MP4s (left-eye mono per camera).

What's different from lerobot/droid_1.0.1

	lerobot/droid_1.0.1	this dataset
Video resolution	320×180	1280×720 (native)
Codec	h264	h264 (CRF 20)
GOP / keyframes	sparse	g=2 (dense — fast random-access decode)
Episodes	95,658	72,112 (only those with public raw video)
Video packing	packed	one MP4 per episode-camera (unpacked)
Tabular data	full	identical

Everything else — feature schema, fps (15), robot state/action tensors, camera extrinsics, task instructions, episode structure — matches droid_1.0.1.

Coverage & indexing

Only the 72,112 / 95,658 episodes with publicly available DROID raw video are included (the remainder are absent from the public raw bucket). Episodes are re-indexed 0…72,111. index_to_droid_1_0_1.json maps each new index back to its original droid_1.0.1 episode index for cross-referencing.

Usage

from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("XinxuanLuM/droid_720p", video_backend="pyav")
frame = ds[0]  # observation.images.{wrist_left,exterior_1_left,exterior_2_left} at 720×1280

Provenance & license

Derived from the DROID dataset (Khazatsky et al., 2024) and lerobot/droid_1.0.1. Please cite DROID and respect its terms. Re-encode & repackaging only; no new annotations.