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

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, Kevin Lin, 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 Martín-Martín,Subramanian Ramamoorthy,Dorsa Sadigh,Shuran Song,Jiajun Wu,Michael C. Yip,Yuke Zhu,Thomas Kollar,Sergey Levine,Chelsea Finn

CoRR(2024)

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摘要
The creation of large, diverse, high-quality robot manipulation datasets is an important stepping stone on the path toward more capable and robust robotic manipulation policies. However, creating such datasets is challenging: collecting robot manipulation data in diverse environments poses logistical and safety challenges and requires substantial investments in hardware and human labour. As a result, even the most general robot manipulation policies today are mostly trained on data collected in a small number of environments with limited scene and task diversity. In this work, we introduce DROID (Distributed Robot Interaction Dataset), a diverse robot manipulation dataset with 76k demonstration trajectories or 350 hours of interaction data, collected across 564 scenes and 84 tasks by 50 data collectors in North America, Asia, and Europe over the course of 12 months. We demonstrate that training with DROID leads to policies with higher performance and improved generalization ability. We open source the full dataset, policy learning code, and a detailed guide for reproducing our robot hardware setup.
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