Fifty real pick-and-place episodes from a low-cost SO-100/SO-101-class arm, recorded at 30 fps with a side camera and a top-down camera, and used as the SmolVLA fine-tuning example.
lerobot/droid_1.0.1
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LeRobot v3 conversion of DROID: about 95k real Franka teleoperation episodes recorded in many different scenes, with around 50k distinct language instructions.
Why it matters for physical AI
It is one of the largest in-the-wild single-arm datasets and a common pretraining source for generalist manipulation policies.
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Files, weights and version history live on Hugging Face. FrontierOS indexes this repo; it does not host or mirror it.
hf download lerobot/droid_1.0.1 --repo-type datasetUses the Hugging Face CLI (pip install -U huggingface_hub). This downloads the whole repo; add --include "<pattern>" to fetch only the files you need.
Which cross-embodiment mix would you pretrain on?
Open X-Embodiment, DROID and BridgeData are the usual building blocks, with LIBERO as the common simulated benchmark.
More robot demonstrations
Browse allA filtered collection of 128 SO-100 datasets from 55 community contributors (about 11k episodes and 5.1M frames), with hand-cleaned task descriptions, released as the pretraining subset for SmolVLA.
About 200 human demonstrations in a 2D simulation where a round pusher slides a T-shaped block onto a target outline, stored in LeRobot v3 format.