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bridge_test_0_3475_augmented

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  1. README.md +141 -0
  2. data/chunk-000/file-000.parquet +3 -0
  3. meta/episodes/chunk-000/file-000.parquet +3 -0
  4. meta/info.json +528 -0
  5. meta/stats.json +2211 -0
  6. meta/tasks.parquet +3 -0
  7. videos/observation.images.google_robot/chunk-000/file-000.mp4 +3 -0
  8. videos/observation.images.google_robot/chunk-000/file-001.mp4 +3 -0
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  10. videos/observation.images.google_robot/chunk-000/file-003.mp4 +3 -0
  11. videos/observation.images.image/chunk-000/file-000.mp4 +3 -0
  12. videos/observation.images.image/chunk-000/file-001.mp4 +3 -0
  13. videos/observation.images.image/chunk-000/file-002.mp4 +3 -0
  14. videos/observation.images.image/chunk-000/file-003.mp4 +3 -0
  15. videos/observation.images.jaco/chunk-000/file-000.mp4 +3 -0
  16. videos/observation.images.jaco/chunk-000/file-001.mp4 +3 -0
  17. videos/observation.images.jaco/chunk-000/file-002.mp4 +3 -0
  18. videos/observation.images.jaco/chunk-000/file-003.mp4 +3 -0
  19. videos/observation.images.kinova3/chunk-000/file-000.mp4 +3 -0
  20. videos/observation.images.kinova3/chunk-000/file-001.mp4 +3 -0
  21. videos/observation.images.kinova3/chunk-000/file-002.mp4 +3 -0
  22. videos/observation.images.kinova3/chunk-000/file-003.mp4 +3 -0
  23. videos/observation.images.kuka_iiwa/chunk-000/file-000.mp4 +3 -0
  24. videos/observation.images.kuka_iiwa/chunk-000/file-001.mp4 +3 -0
  25. videos/observation.images.kuka_iiwa/chunk-000/file-002.mp4 +3 -0
  26. videos/observation.images.kuka_iiwa/chunk-000/file-003.mp4 +3 -0
  27. videos/observation.images.panda/chunk-000/file-000.mp4 +3 -0
  28. videos/observation.images.panda/chunk-000/file-001.mp4 +3 -0
  29. videos/observation.images.panda/chunk-000/file-002.mp4 +3 -0
  30. videos/observation.images.panda/chunk-000/file-003.mp4 +3 -0
  31. videos/observation.images.sawyer/chunk-000/file-000.mp4 +3 -0
  32. videos/observation.images.sawyer/chunk-000/file-001.mp4 +3 -0
  33. videos/observation.images.sawyer/chunk-000/file-002.mp4 +3 -0
  34. videos/observation.images.sawyer/chunk-000/file-003.mp4 +3 -0
  35. videos/observation.images.ur5e/chunk-000/file-000.mp4 +3 -0
  36. videos/observation.images.ur5e/chunk-000/file-001.mp4 +3 -0
  37. videos/observation.images.ur5e/chunk-000/file-002.mp4 +3 -0
  38. videos/observation.images.ur5e/chunk-000/file-003.mp4 +3 -0
  39. videos/observation.images.xarm7/chunk-000/file-000.mp4 +3 -0
  40. videos/observation.images.xarm7/chunk-000/file-001.mp4 +3 -0
  41. videos/observation.images.xarm7/chunk-000/file-002.mp4 +3 -0
  42. videos/observation.images.xarm7/chunk-000/file-003.mp4 +3 -0
README.md ADDED
@@ -0,0 +1,141 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ pretty_name: "bridge_test_0_3475_augmented"
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+ license: "cc-by-4.0"
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+ tags: [robotics, lerobot, oxe-auge, dataset]
5
+ task_categories: [robotics]
6
+
7
+ oxe_aug:
8
+ codebase_version: "v3.0"
9
+ robots: ["google_robot", "images", "jaco", "kinova3", "kuka_iiwa", "panda", "sawyer", "ur5e", "xarm7"]
10
+ fps: 5
11
+ total_episodes: 3475
12
+ total_frames: 118603
13
+ total_videos: null
14
+
15
+ configs:
16
+ - config_name: default
17
+ data_files:
18
+ - split: train
19
+ path:
20
+ - "data/chunk-*/file-*.parquet"
21
+ ---
22
+ # bridge_test_0_3475_augmented
23
+
24
+ ## Overview
25
+
26
+ - **Codebase version**: `v3.0`
27
+ - **Robots**: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e, xarm7
28
+ - **FPS**: 5
29
+ - **Episodes**: 3,475
30
+ - **Frames**: 118,603
31
+ - **Splits**:
32
+ - `train`: `0:3475`
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+
34
+ ## Data Layout
35
+
36
+ ```text
37
+ data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
38
+ video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
39
+ ```
40
+
41
+ ## Features
42
+
43
+ | Feature | dtype | shape | description |
44
+ |---|---:|---:|---|
45
+ | `observation.images.google_robot` | `video` | `480×640×3` | Augmented image for google_robot robot |
46
+ | `observation.images.image` | `video` | `480×640×3` | Source robot's image from original dataset |
47
+ | `observation.images.jaco` | `video` | `480×640×3` | Augmented image for jaco robot |
48
+ | `observation.images.kinova3` | `video` | `480×640×3` | Augmented image for kinova3 robot |
49
+ | `observation.images.kuka_iiwa` | `video` | `480×640×3` | Augmented image for kuka_iiwa robot |
50
+ | `observation.images.panda` | `video` | `480×640×3` | Augmented image for panda robot |
51
+ | `observation.images.sawyer` | `video` | `480×640×3` | Augmented image for sawyer robot |
52
+ | `observation.images.ur5e` | `video` | `480×640×3` | Augmented image for ur5e robot |
53
+ | `observation.images.xarm7` | `video` | `480×640×3` | Augmented image for xarm7 robot |
54
+ | `episode_index` | `int64` | `1` | Index of the current episode within the dataset. |
55
+ | `frame_index` | `int64` | `1` | Index of the current frame within its episode. |
56
+ | `index` | `int64` | `1` | Global frame index across the whole dataset. |
57
+ | `natural_language_instruction` | `string` | `1` | Natural language command describing the task |
58
+ | `observation.ee_pose` | `float32` | `7` | Source robot's eef position |
59
+ | `observation.google_robot.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
60
+ | `observation.google_robot.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
61
+ | `observation.google_robot.ee_error` | `float32` | `7` | The eef difference between the augmented google_robot robot and the original robot |
62
+ | `observation.google_robot.ee_pose` | `float32` | `7` | The eef position of google_robot robot |
63
+ | `observation.google_robot.joints` | `float32` | `8` | The joint position of google_robot robot |
64
+ | `observation.jaco.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
65
+ | `observation.jaco.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
66
+ | `observation.jaco.ee_error` | `float32` | `7` | The eef difference between the augmented jaco robot and the original robot |
67
+ | `observation.jaco.ee_pose` | `float32` | `7` | The eef position of jaco robot |
68
+ | `observation.jaco.joints` | `float32` | `7` | The joint position of jaco robot |
69
+ | `observation.joints` | `float32` | `7` | Joint angle of source robot |
70
+ | `observation.kinova3.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
71
+ | `observation.kinova3.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
72
+ | `observation.kinova3.ee_error` | `float32` | `7` | The eef difference between the augmented kinova3 robot and the original robot |
73
+ | `observation.kinova3.ee_pose` | `float32` | `7` | The eef position of kinova3 robot |
74
+ | `observation.kinova3.joints` | `float32` | `8` | The joint position of kinova3 robot |
75
+ | `observation.kuka_iiwa.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
76
+ | `observation.kuka_iiwa.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
77
+ | `observation.kuka_iiwa.ee_error` | `float32` | `7` | The eef difference between the augmented kuka_iiwa robot and the original robot |
78
+ | `observation.kuka_iiwa.ee_pose` | `float32` | `7` | The eef position of kuka_iiwa robot |
79
+ | `observation.kuka_iiwa.joints` | `float32` | `8` | The joint position of kuka_iiwa robot |
80
+ | `observation.panda.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
81
+ | `observation.panda.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
82
+ | `observation.panda.ee_error` | `float32` | `7` | The eef difference between the augmented panda robot and the original robot |
83
+ | `observation.panda.ee_pose` | `float32` | `7` | The eef position of panda robot |
84
+ | `observation.panda.joints` | `float32` | `8` | The joint position of panda robot |
85
+ | `observation.sawyer.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
86
+ | `observation.sawyer.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
87
+ | `observation.sawyer.ee_error` | `float32` | `7` | The eef difference between the augmented sawyer robot and the original robot |
88
+ | `observation.sawyer.ee_pose` | `float32` | `7` | The eef position of sawyer robot |
89
+ | `observation.sawyer.joints` | `float32` | `8` | The joint position of sawyer robot |
90
+ | `observation.state` | `float32` | `7` | Copy of the state field in source robot's RLDS dataset |
91
+ | `observation.ur5e.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
92
+ | `observation.ur5e.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
93
+ | `observation.ur5e.ee_error` | `float32` | `7` | The eef difference between the augmented ur5e robot and the original robot |
94
+ | `observation.ur5e.ee_pose` | `float32` | `7` | The eef position of ur5e robot |
95
+ | `observation.ur5e.joints` | `float32` | `7` | The joint position of ur5e robot |
96
+ | `observation.xarm7.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
97
+ | `observation.xarm7.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
98
+ | `observation.xarm7.ee_error` | `float32` | `7` | The eef difference between the augmented xarm7 robot and the original robot |
99
+ | `observation.xarm7.ee_pose` | `float32` | `7` | The eef position of xarm7 robot |
100
+ | `observation.xarm7.joints` | `float32` | `8` | The joint position of xarm7 robot |
101
+ | `task_index` | `int64` | `1` | Integer ID of the high-level task this episode/frame belongs to. |
102
+ | `timestamp` | `float32` | `1` | Time stamp of the current frame within the episode (in second). |
103
+
104
+ ## Website
105
+
106
+ - Website page: [https://oxe-auge.github.io/](https://oxe-auge.github.io/)
107
+ - Project repository: [https://github.com/GuanhuaJi/oxe-auge](https://github.com/GuanhuaJi/oxe-auge)
108
+
109
+ ## Paper
110
+
111
+ - [https://arxiv.org/abs/2308.12952](https://arxiv.org/abs/2308.12952)
112
+
113
+ ## Citation Policy
114
+
115
+ If you use **OXE-AugE** datasets, please cite **both** our dataset and the **upstream datasets**.
116
+
117
+ ## Upstream Dataset Citation (original dataset)
118
+
119
+ ```bibtex
120
+ @article{walke2023bridgedatav2,
121
+ title = {BridgeData V2: A Dataset for Robot Learning at Scale},
122
+ author = {Walke, Homer and Black, Kevin and Lee, Abraham and Kim, Moo Jin and Du, Max and Zheng, Chongyi and Zhao, Tony and Hansen-Estruch, Philippe and Vuong, Quan and He, Andre and Myers, Vivek and Fang, Kuan and Finn, Chelsea and Levine, Sergey},
123
+ journal = {arXiv preprint arXiv:2308.12952},
124
+ year = {2023},
125
+ doi = {10.48550/arXiv.2308.12952},
126
+ url = {https://arxiv.org/abs/2308.12952},
127
+ note = {Version v3, last revised 2024-01-17}
128
+ }
129
+ ```
130
+
131
+ ## OXE-AugE Dataset Citation (ours)
132
+
133
+ ```bibtex
134
+ @misc{
135
+ ji2025oxeaug,
136
+ title = {OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning},
137
+ author = {Ji, Guanhua and Polavaram, Harsha and Chen, Lawrence Yunliang and Bajamahal, Sandeep and Ma, Zehan and Adebola, Simeon and Xu, Chenfeng and Goldberg, Ken},
138
+ year = {2025},
139
+ note = {Manuscript}
140
+ }
141
+ ```
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+ {
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+ "codebase_version": "v3.0",
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+ "robot_type": "mixed",
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+ "total_episodes": 3475,
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+ "total_frames": 118603,
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+ "total_tasks": 1771,
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+ "chunks_size": 1000,
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+ "fps": 5,
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+ "splits": {
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+ "train": "0:3475"
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+ },
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+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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+ "features": {
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+ "dtype": "float32",
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+ "shape": [
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+ 8
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+ ],
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+ "fps": 5
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+ },
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ },
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+ ],
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+ },
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+ },
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+ 7
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+ ],
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+ "fps": 5
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+ },
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "info": {
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+ "video.height": 480,
59
+ "video.width": 640,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 5,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.sawyer.joints": {
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+ "dtype": "float32",
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+ "shape": [
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+ 8
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+ ],
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+ "fps": 5
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+ },
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+ "observation.sawyer.ee_pose": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "fps": 5
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+ },
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+ "observation.sawyer.base_position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 3
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+ ],
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+ "fps": 5
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+ },
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+ "observation.sawyer.base_orientation": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "fps": 5
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+ },
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+ "observation.sawyer.ee_error": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "fps": 5
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+ },
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+ "observation.images.sawyer": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "info": {
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 5,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "fps": 5
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+ },
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+ "observation.ur5e.ee_pose": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "fps": 5
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+ },
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+ "observation.ur5e.base_position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 3
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+ ],
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+ "fps": 5
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+ },
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+ "observation.ur5e.base_orientation": {
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+ "dtype": "float32",
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+ "shape": [
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+ },
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+ "observation.ur5e.ee_error": {
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+ "observation.images.ur5e": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "info": {
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 5,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.google_robot.joints": {
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+ "dtype": "float32",
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+ "shape": [
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+ 8
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+ ],
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+ "fps": 5
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+ },
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+ "observation.google_robot.ee_pose": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "fps": 5
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+ },
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+ "observation.google_robot.base_position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 3
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+ ],
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+ "fps": 5
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+ },
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+ "observation.google_robot.base_orientation": {
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