mlsanityData to 7 Oct 2026

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

arXiv 2403.12945 ↗First posted 19 Mar 2024cs.ROcited by 801

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Cited by 325 in Vision-language-action models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

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.

Key facts. Cited by 801 papers in the map (data through 7 Oct 2026). First posted on arXiv 19 Mar 2024.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 75; 2025: 297; 2026: 429.

801 papers.

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  1. 2024OpenVLA: An Open-Source Vision-Language-Action Modelcited by 2,777
  2. 2024π0: A Vision-Language-Action Flow Model for General Robot Controlcited by 2,297
  3. 2025Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Successcited by 844
  4. 2024RDT-1B: a Diffusion Foundation Model for Bimanual Manipulationcited by 670
  5. 2025SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Roboticscited by 507
  6. 2025SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Modelcited by 502
  7. 2024Evaluating Real-World Robot Manipulation Policies in Simulationcited by 484
  8. 2026World Action Models are Zero-shot Policiescited by 411
  9. 2025AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systemscited by 390
  10. 2025UniVLA: Learning to Act Anywhere with Task-centric Latent Actionscited by 386
  11. 2024Robotic Control via Embodied Chain-of-Thought Reasoningcited by 340
  12. 2024TraceVLA: Visual Trace Prompting Enhances Spatial-Temporal Awareness for Generalist Robotic Policiescited by 298
38 more
  1. 2026Causal World Modeling for Robot Controlcited by 289
  2. 2025X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Modelcited by 285
  3. 2024A Survey on Vision-Language-Action Models for Embodied AIcited by 274
  4. 2025LeJEPA: Provable and Scalable Self-Supervised Learning Without the Heuristicscited by 227
  5. 2024ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AIcited by 216
  6. 2025DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledgecited by 203
  7. 2025Real-Time Execution of Action Chunking Flow Policiescited by 199
  8. 2025MemoryVLA: Perceptual-Cognitive Memory in Vision-Language-Action Models for Robotic Manipulationcited by 183
  9. 2025World Simulation with Video Foundation Models for Physical AIcited by 183
  10. 2025FoundationStereo: Zero-Shot Stereo Matchingcited by 168
  11. 2025DreamGen: Unlocking Generalization in Robot Learning through Video World Modelscited by 168
  12. 2024OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learningcited by 167
  13. 2024RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulationcited by 166
  14. 2025VLA-RL: Towards Masterful and General Robotic Manipulation with Scalable Reinforcement Learningcited by 166
  15. 2024Predictive Inverse Dynamics Models are Scalable Learners for Robotic Manipulationcited by 159
  16. 2024Deep Reinforcement Learning for Robotics: A Survey of Real-World Successescited by 153
  17. 2025ThinkAct: Vision-Language-Action Reasoning via Reinforced Visual Latent Planningcited by 152
  18. 2025Ctrl-World: A Controllable Generative World Model for Robot Manipulationcited by 149
  19. 2024SpatialBot: Precise Spatial Understanding with Vision Language Modelscited by 146
  20. 2024Data Scaling Laws in Imitation Learning for Robotic Manipulationcited by 144
  21. 2024Gen2Act: Human Video Generation in Novel Scenarios enables Generalizable Robot Manipulationcited by 142
  22. 2025Knowledge Insulating Vision-Language-Action Models: Train Fast, Run Fast, Generalize Bettercited by 142
  23. 2024Open-TeleVision: Teleoperation with Immersive Active Visual Feedbackcited by 137
  24. 2025RoboBrain: A Unified Brain Model for Robotic Manipulation from Abstract to Concretecited by 134
  25. 2026GigaWorld-Policy: An Efficient Action-Centered World--Action Modelcited by 129
  26. 2025Unified Vision-Language-Action Modelcited by 128
  27. 2025HAMSTER: Hierarchical Action Models For Open-World Robot Manipulationcited by 125
  28. 2025GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Datacited by 120
  29. 2025NORA: A Small Open-Sourced Generalist Vision Language Action Model for Embodied Taskscited by 119
  30. 2026DreamDojo: A Generalist Robot World Model from Large-Scale Human Videoscited by 117
  31. 2025GR-3 Technical Reportcited by 110
  32. 2024Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviationcited by 108
  33. 2025OneTwoVLA: A Unified Vision-Language-Action Model with Adaptive Reasoningcited by 105
  34. 2025FLARE: Robot Learning with Implicit World Modelingcited by 105
  35. 2026VLA-JEPA: Enhancing Vision-Language-Action Model with Latent World Modelcited by 104
  36. 2026StarVLA: A Lego-like Codebase for Vision-Language-Action Model Developingcited by 103
  37. 2025PointVLA: Injecting the 3D World into Vision-Language-Action Modelscited by 101
  38. 2024Steering Your Generalists: Improving Robotic Foundation Models via Value Guidancecited by 100

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