HABIT is a large-scale robot demonstration dataset for human-present environments that elicits spatiotemporal synchronization, yielding, and gesture grounding behaviors absent from robot-only training data.
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DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
Baseline reference. 55% of citing Pith papers use this work as a benchmark or comparison.
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abstract
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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- abstract 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 DRO
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co-cited works
representative citing papers
SpatialBench evaluates 41 spatial foundation models across 6 paradigms and 5 task suites, finds they are not all-round players, and introduces the DA-Next-5M dataset plus DA-Next baseline model.
Vision-language-action models are highly vulnerable to membership inference attacks, including practical black-box versions that exploit generated actions and motion trajectories.
Variable-length autoregressive latent sequences, trained as variational inference with a PPO-style objective, give robot policies adaptive test-time compute and yield a reusable action tokenizer.
SARL optimizes language prompt inputs to generalist vision-language-action policies through online RL to solve complex long-horizon tasks by composing existing skills.
RoboGaze presents a structured multi-agent VLM pipeline and robotics-specific error taxonomy that improves video evaluation metrics by up to 43 F1 points over zero-shot baselines on a 382-clip dataset.
Geometric diversity of demonstration trajectories exhibits an inverted-U effect on imitation learning success, with the peak shifting lower as mastery increases via more data, easier tasks, or stronger priors.
Processed egocentric human video outperforms teleoperated real-robot trajectories as pretraining data for embodied foundation models, delivering 24% lower validation loss and 52.5-90% higher task success rates under matched post-training protocols.
EgoCS-400K is a new 400K-video egocentric CS dataset with action-state-event alignment from public match demos for world model training.
FTP-1 is the first foundation tactile policy pretrained on ~3000 hours of data from 26 sources across 21 sensors that improves performance on seen setups by 17.2% and transfers to unseen sensors with 31% success rate gain.
M* introduces the Walk Graph abstraction to serve arbitrary compositions of multimodal model components and reports latency and throughput gains over vLLM-Omni and other baselines on text-to-image, text-to-speech, and robotic planning workloads.
EgoEngine transforms egocentric human videos into high-fidelity robot data enabling zero-shot visuomotor dexterous policy learning without real-robot demonstrations.
UMI-Bench 1.0 is presented as the first open benchmark dedicated to reproducible real-world evaluation of Universal Manipulation Interface policies.
World models introduce a stealthy poisoning vector into robot learning pipelines where malicious prompts or dynamics in teleoperated data activate only during synthetic trajectory generation, enabling backdoors in downstream policies.
ActProbe is an action-space detector that uses temporal consistency error and action chunk magnitude from policy outputs, mapped via LSTM-MLP, to predict failures earlier than baselines across policies and real-robot tasks.
HapTile introduces a visuotactile dataset with haptic-informed teleoperation for language-conditioned contact-rich manipulation tasks and provides baseline policy benchmarks.
The paper identifies a deployment safety gap in VLA policies where identical checkpoints can be executable-inequivalent due to action metadata mismatches, supported by a derived closed-form transform and empirical drift measurements on LIBERO benchmarks.
X-Stream benchmark shows SOTA MLLMs score ~50% on concurrent multi-stream tasks and lack proactive ability, using a dual-verification pipeline to avoid single-stream bias.
MiraBench defines action-conditioned reliability via three levels (physics adherence, action-following fidelity, optimism bias detection) and applies it to 12 model configurations using a 16,000-judgment human corpus, finding visual fidelity a poor proxy for action fidelity, no reliable scale benefi
What-If World is a new paired-prompt benchmark showing that nine state-of-the-art video generation models achieve at most 52% on causal intervention tests and cluster near 28% for open-source systems.
JOPAT jointly models pixels, point tracks, and actions in a diffusion transformer and reports gains over pixel-only baselines on long-horizon robot tasks with occlusion and off-screen motion.
RoboJailBench creates a taxonomy-based benchmark, intent-contrast datasets, and evaluation framework for jailbreak attacks and defenses in embodied robotic AI systems.
Pion modifies Muon's Newton-Schulz iterations into a controllable high-pass filter that anchors dominant singular values at 1 while suppressing noisy tails, outperforming Muon and AdamW in VLA and RLVR regimes.
RoboFlow4D is an end-to-end lightweight flow world model that predicts multi-frame 3D flows from visual observations and textual instructions to provide explicit planning for real-time robotic manipulation.
citing papers explorer
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HABIT: Human-Aware Behavior and Interaction Training Dataset for Robot Manipulation
HABIT is a large-scale robot demonstration dataset for human-present environments that elicits spatiotemporal synchronization, yielding, and gesture grounding behaviors absent from robot-only training data.
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SpatialBench: Is Your Spatial Foundation Model an All-Round Player?
SpatialBench evaluates 41 spatial foundation models across 6 paradigms and 5 task suites, finds they are not all-round players, and introduces the DA-Next-5M dataset plus DA-Next baseline model.
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Membership Inference Attacks on Vision-Language-Action Models
Vision-language-action models are highly vulnerable to membership inference attacks, including practical black-box versions that exploit generated actions and motion trajectories.
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Latent Memory Palace: Reasoning for Control as Autoregressive Variational Inference
Variable-length autoregressive latent sequences, trained as variational inference with a PPO-style objective, give robot policies adaptive test-time compute and yield a reusable action tokenizer.
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Adapting Generalist Robot Policies with Semantic Reinforcement Learning
SARL optimizes language prompt inputs to generalist vision-language-action policies through online RL to solve complex long-horizon tasks by composing existing skills.
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RoboGaze: Evaluating Robot World Models via Structured Vision-Language Analysis
RoboGaze presents a structured multi-agent VLM pipeline and robotics-specific error taxonomy that improves video evaluation metrics by up to 43 F1 points over zero-shot baselines on a 382-clip dataset.
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Geometric Entropy: When Trajectory Diversity Helps and Hurts in Imitation Learning
Geometric diversity of demonstration trajectories exhibits an inverted-U effect on imitation learning success, with the peak shifting lower as mastery increases via more data, easier tasks, or stronger priors.
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HumanScale: Egocentric Human Video Can Outperform Real-Robot Data for Embodied Pretraining
Processed egocentric human video outperforms teleoperated real-robot trajectories as pretraining data for embodied foundation models, delivering 24% lower validation loss and 52.5-90% higher task success rates under matched post-training protocols.
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EgoCS-400K: An Egocentric Gameplay Dataset for World Models
EgoCS-400K is a new 400K-video egocentric CS dataset with action-state-event alignment from public match demos for world model training.
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FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation
FTP-1 is the first foundation tactile policy pretrained on ~3000 hours of data from 26 sources across 21 sensors that improves performance on seen setups by 17.2% and transfers to unseen sensors with 31% success rate gain.
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M*: A Modular, Extensible, Serving System for Multimodal Models
M* introduces the Walk Graph abstraction to serve arbitrary compositions of multimodal model components and reports latency and throughput gains over vLLM-Omni and other baselines on text-to-image, text-to-speech, and robotic planning workloads.
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EgoEngine: From Egocentric Human Videos to High-Fidelity Dexterous Robot Demonstrations
EgoEngine transforms egocentric human videos into high-fidelity robot data enabling zero-shot visuomotor dexterous policy learning without real-robot demonstrations.
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UMI-Bench 1.0: An Open and Reproducible Real-World Benchmark for Tabletop Robotic Manipulation with UMI Data
UMI-Bench 1.0 is presented as the first open benchmark dedicated to reproducible real-world evaluation of Universal Manipulation Interface policies.
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Targeting World Models to Compromise Robot Learning Pipelines
World models introduce a stealthy poisoning vector into robot learning pipelines where malicious prompts or dynamics in teleoperated data activate only during synthetic trajectory generation, enabling backdoors in downstream policies.
-
ActProbe: Action-Space Probe for Early Failure Detection of Generative Robot Policies
ActProbe is an action-space detector that uses temporal consistency error and action chunk magnitude from policy outputs, mapped via LSTM-MLP, to predict failures earlier than baselines across policies and real-robot tasks.
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HapTile: A Haptic-Informed Vision-Tactile-Language-Action Dataset for Contact-Rich Imitation Learning
HapTile introduces a visuotactile dataset with haptic-informed teleoperation for language-conditioned contact-rich manipulation tasks and provides baseline policy benchmarks.
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Same Weights, Different Robot: A Deployment Safety View of VLA Policies
The paper identifies a deployment safety gap in VLA policies where identical checkpoints can be executable-inequivalent due to action metadata mismatches, supported by a derived closed-form transform and empirical drift measurements on LIBERO benchmarks.
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X-Stream: Exploring MLLMs as Multiplexers for Multi-Stream Understanding
X-Stream benchmark shows SOTA MLLMs score ~50% on concurrent multi-stream tasks and lack proactive ability, using a dual-verification pipeline to avoid single-stream bias.
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MiraBench: Evaluating Action-Conditioned Reliability in Robotic World Models
MiraBench defines action-conditioned reliability via three levels (physics adherence, action-following fidelity, optimism bias detection) and applies it to 12 model configurations using a 16,000-judgment human corpus, finding visual fidelity a poor proxy for action fidelity, no reliable scale benefi
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What-If World: A Causal Benchmark for General World Models in Embodied Scenarios
What-If World is a new paired-prompt benchmark showing that nine state-of-the-art video generation models achieve at most 52% on causal intervention tests and cluster near 28% for open-source systems.
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Point Tracking Improves World Action Models
JOPAT jointly models pixels, point tracks, and actions in a diffusion transformer and reports gains over pixel-only baselines on long-horizon robot tasks with occlusion and off-screen motion.
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RoboJailBench: Benchmarking Adversarial Attacks and Defenses in Embodied Robotic Agents
RoboJailBench creates a taxonomy-based benchmark, intent-contrast datasets, and evaluation framework for jailbreak attacks and defenses in embodied robotic AI systems.
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Rethinking Muon Beyond Pretraining: Spectral Failures and High-Pass Remedies for VLA and RLVR
Pion modifies Muon's Newton-Schulz iterations into a controllable high-pass filter that anchors dominant singular values at 1 while suppressing noisy tails, outperforming Muon and AdamW in VLA and RLVR regimes.
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RoboFlow4D: A Lightweight Flow World Model Toward Real-Time Flow-Guided Robotic Manipulation
RoboFlow4D is an end-to-end lightweight flow world model that predicts multi-frame 3D flows from visual observations and textual instructions to provide explicit planning for real-time robotic manipulation.
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From Imagined Futures to Executable Actions: Mixture of Latent Actions for Robot Manipulation
MoLA infers a mixture of latent actions from generated future videos via modality-aware inverse dynamics models to improve robot manipulation policies.
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Split the Differences, Pool the Rest: Provably Efficient Multi-Objective Imitation
MA-BC partitions divergent expert data and pools non-conflicting pairs to achieve faster convergence to Pareto-optimal policies in MOMDPs, with a matching minimax lower bound.
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Coordinated Diffusion: Generating Multi-Agent Behavior Without Multi-Agent Demonstrations
CoDi decomposes the multi-agent diffusion score into pre-trained single-agent policies plus a gradient-free cost guidance term to generate coordinated behavior from single-agent data alone.
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Offline Policy Evaluation for Manipulation Policies via Discounted Liveness Formulation
A liveness-based Bellman operator enables conservative offline policy evaluation for manipulation tasks by encoding task progression and reducing truncation bias from finite horizons.
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CapVector: Learning Transferable Capability Vectors in Parametric Space for Vision-Language-Action Models
Capability vectors extracted from parameter differences between standard and auxiliary-finetuned VLA models can be merged into pretrained weights to match auxiliary-training performance while reducing computational overhead during adaptation.
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ACWM-Phys: Investigating Generalized Physical Interaction in Action-Conditioned Video World Models
ACWM-Phys is a controllable simulator benchmark with in- and out-of-distribution protocols for evaluating action-conditioned world models across rigid, kinematic, deformable, and particle dynamics.
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OA-WAM: Object-Addressable World Action Model for Robust Robot Manipulation
OA-WAM uses persistent address vectors and dynamic content vectors in object slots to enable addressable world-action prediction, improving robustness on manipulation benchmarks under scene changes.
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OmniRobotHome: A Multi-Camera Platform for Real-Time Multiadic Human-Robot Interaction
A 48-camera residential platform delivers real-time occlusion-robust 3D perception and coordinated actuation for multi-human multi-robot interaction in a shared home workspace.
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Atomic-Probe Governance for Skill Updates in Compositional Robot Policies
A cross-version swap protocol reveals dominant skills that swing composition success by up to 50 percentage points, and an atomic probe with selective revalidation governs updates at lower cost than always re-testing full compositions.
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Modular Sensory Stream for Integrating Physical Feedback in Vision-Language-Action Models
MoSS augments VLAs with decoupled modality streams for multiple physical signals, achieving synergistic gains in real-world robot tasks via joint attention and auxiliary future-signal prediction.
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Action Images: End-to-End Policy Learning via Multiview Video Generation
Action Images turn robot arm motions into interpretable multiview pixel videos, letting video backbones serve as zero-shot policies for end-to-end robot learning.
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Tune to Learn: How Controller Gains Shape Robot Policy Learning
Controller gains affect learnability differently for behavior cloning, RL from scratch, and sim-to-real transfer, so optimal gains depend on the learning paradigm rather than desired task behavior.
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VP-VLA: Visual Prompting as an Interface for Vision-Language-Action Models
VP-VLA decouples high-level reasoning from low-level control in VLA models by rendering spatial anchors as visual prompts directly in the RGB observation space, outperforming end-to-end baselines.
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RoboMME: Benchmarking and Understanding Memory for Robotic Generalist Policies
A standardized 16-task memory benchmark and 14 controlled VLA variants show perceptual memory (especially frame sampling + AdaLN modulation) is strongest overall, while symbolic subgoals win on counting and short-horizon reasoning.
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UniLACT: Depth-Aware RGB Latent Action Learning for Vision-Language-Action Models
UniLACT improves VLA models by adding depth-aware unified latent action pretraining that outperforms RGB-only baselines on seen and unseen manipulation tasks.
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DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos
DreamDojo is a foundation world model pretrained on the largest human video dataset to date that uses continuous latent actions to transfer interaction knowledge and achieves controllable physics simulation after robot post-training.
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Large Video Planner Enables Generalizable Robot Control
A video foundation model trained on human demonstrations generates zero-shot plans that convert to executable robot actions on novel scenes and tasks.
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RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation
RoboCOIN is a large multi-embodiment bimanual manipulation dataset with hierarchical annotations and an open processing pipeline that improves model performance across robotic platforms.
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USIM and U0: A Vision-Language-Action Dataset and Model for General Underwater Robots
Introduces USIM simulation dataset and U0 VLA model with CAP module for general underwater robot tasks, reporting 0.0359 offline error and 43.1% online success rate.
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DreamGen: Unlocking Generalization in Robot Learning through Video World Models
DreamGen trains robot policies on synthetic trajectories from adapted video world models, enabling a humanoid robot to perform 22 new behaviors in seen and unseen environments from a single pick-and-place teleoperation dataset.
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Kaiwu: A Multimodal Manipulation Dataset and Framework for Robot Learning and Human-Robot Interaction
Introduces the Kaiwu multimodal dataset and framework with 11,664 synchronized assembling demonstrations including hand motions, pressures, sounds, multi-view videos, motion capture, eye gaze, and EMG signals with timestamp-based and semantic annotations.
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Do Egocentric Video-Language Models Capture Both Hand- and Object-Centric Cues?
Hand-object masked training and an HOI-dynamics-aware decoder yield more balanced cue-specific action recognition on a new inpainted DEHOI testbed and transfer to object-state and robot-manipulation tasks.
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EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World
A 1,362-hour multi-source egocentric human dataset and multi-lab study show co-training improves robot manipulation, but only when aligned human–robot data anchors transfer from diverse human data.
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RoboSnap: One-Shot Real-to-Sim Scene Generation for Generalizable Robot Learning and Evaluation
A single RGB image is converted into a layered, simulation-ready robot scene that supports trajectory replay, synthetic data generation, and meaningful sim-real policy evaluation, plus a 564-scene DROID-Sim companion set.
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FORGE: Towards Functional Tool-Use Generalization via Keypoint Trajectory Reasoning
FORGE decouples robotic tool-use into keypoint trajectory prediction from action-free data and action grounding from limited demonstrations, achieving over 2X improvement in functional generalization to unseen tools.
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Learning to Move Before Learning to Do: Task-Agnostic pretraining for VLAs
TAP uses two-stage pretraining on unlabeled data to learn physical competence before language grounding, matching 1M-expert models with far less labeled data and showing robustness on real robots.