RT-1 Robot Action Augmented
Collection
35 items • Updated
observation.sawyer.joints listlengths 8 8 | observation.sawyer.ee_pose listlengths 7 7 | observation.sawyer.base_position listlengths 3 3 | observation.sawyer.base_orientation float32 0 0 | observation.sawyer.ee_error listlengths 7 7 | observation.ur5e.joints listlengths 7 7 | observation.ur5e.ee_pose listlengths 7 7 | observation.ur5e.base_position listlengths 3 3 | observation.ur5e.base_orientation float32 0 0 | observation.ur5e.ee_error listlengths 7 7 | observation.panda.joints listlengths 8 8 | observation.panda.ee_pose listlengths 7 7 | observation.panda.base_position listlengths 3 3 | observation.panda.base_orientation float32 0 0 | observation.panda.ee_error listlengths 7 7 | observation.kinova3.joints listlengths 8 8 | observation.kinova3.ee_pose listlengths 7 7 | observation.kinova3.base_position listlengths 3 3 | observation.kinova3.base_orientation float32 0 0 | observation.kinova3.ee_error listlengths 7 7 | observation.kuka_iiwa.joints listlengths 8 8 | observation.kuka_iiwa.ee_pose listlengths 7 7 | observation.kuka_iiwa.base_position listlengths 3 3 | observation.kuka_iiwa.base_orientation float32 0 0 | observation.kuka_iiwa.ee_error listlengths 7 7 | observation.xarm7.joints listlengths 8 8 | observation.xarm7.ee_pose listlengths 7 7 | observation.xarm7.base_position listlengths 3 3 | observation.xarm7.base_orientation float32 0 0 | observation.xarm7.ee_error listlengths 7 7 | observation.jaco.joints listlengths 7 7 | observation.jaco.ee_pose listlengths 7 7 | observation.jaco.base_position listlengths 3 3 | observation.jaco.base_orientation float32 0 0 | observation.jaco.ee_error listlengths 7 7 | natural_language_instruction stringclasses 423
values | observation.state listlengths 7 7 | observation.joints listlengths 8 8 | observation.ee_pose listlengths 7 7 | timestamp float32 0 84 | frame_index int64 0 252 | episode_index int64 0 2.5k | index int64 0 108k | task_index int64 0 422 |
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] | move green can near redbull can | [
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] | move green can near redbull can | [
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] | [
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] | move green can near redbull can | [
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] | 1 | 3 | 0 | 3 | 0 |
[
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] | [
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] | [
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0.0008969902992248535,
0.012088857591152191
] | move green can near redbull can | [
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0.7738069295883179,
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] | 1.333333 | 4 | 0 | 4 | 0 |
[
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0
] | [
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0.30000001192092896,
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] | 0 | [
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] | [
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] | [
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] | 0 | [
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] | [
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] | [
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] | 0 | [
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] | [
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] | [
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] | 0 | [
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0.0009115934371948242,
0.016267385333776474
] | move green can near redbull can | [
0.4771898686885834,
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0.9687585234642029,
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0.7791370153427124,
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] | [
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1.0713844299316406,
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1.5239990949630737,
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0
] | [
0.47719234228134155,
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0.23779530823230743,
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0.7791674733161926,
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] | 1.666667 | 5 | 0 | 5 | 0 |
[
-1.5075749158859253,
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0.30694639682769775,
0.5107864737510681,
0.5370864272117615,
2.4171392917633057,
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0
] | [
0.28782758116722107,
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0.8177831172943115,
0.23707176744937897,
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0.7810521721839905,
0.0229597557336092
] | [
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] | 0 | [
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2.980232238769531e-7,
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] | [
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0.8752215504646301,
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1.645172119140625,
0
] | [
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] | [
0,
0.30000001192092896,
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] | 0 | [
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0
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0.30000001192092896,
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] | 0 | [
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] | [
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0.000029146671295166016,
0.008142676204442978
] | move green can near redbull can | [
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0.7810364365577698,
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] | 2 | 6 | 0 | 6 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.0008623376488685608
] | move green can near redbull can | [
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0.9274427890777588,
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0.7857359051704407,
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] | [
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] | 2.333333 | 7 | 0 | 7 | 0 |
[
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0.5803961753845215,
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0
] | [
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] | [
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] | 0 | [
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] | [
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] | 0 | [
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] | [
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] | [
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] | 0 | [
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0
] | [
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] | [
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] | 0 | [
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0.00043777376413345337
] | move green can near redbull can | [
0.527341902256012,
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0.7894740104675293,
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] | [
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0
] | [
0.5273445248603821,
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0.2583226263523102,
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] | 2.666667 | 8 | 0 | 8 | 0 |
[
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0.5813656449317932,
2.274258852005005,
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0
] | [
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0.7934843301773071,
0.09237523376941681
] | [
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] | 0 | [
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] | [
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] | [
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] | [
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] | 0 | [
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] | [
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0
] | [
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0.7933453917503357,
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] | [
0,
0.30000001192092896,
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] | 0 | [
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] | [
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0
] | [
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0.2622084319591522,
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0.7933196425437927,
0.0924435704946518
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0,
0.6000000238418579,
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] | 0 | [
7.152557373046875e-7,
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0.000005066394805908203,
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0.00009721517562866211,
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0
] | [
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0.7934505343437195,
0.09235233068466187
] | [
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0.30000001192092896,
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] | 0 | [
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0
] | [
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-0.00038757920265197754,
-0.0002498626708984375,
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0.0003272220492362976
] | move green can near redbull can | [
0.5445086359977722,
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0.8912155032157898,
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0.7934288382530212,
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] | [
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0.26211366057395935,
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0.7934646606445312,
0.09233643859624863
] | 3 | 9 | 0 | 9 | 0 |
[
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] | [
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0.740654468536377,
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6.556510925292969e-7,
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2.1606683731079102e-7
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1.064899206161499,
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0
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] | [
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0.30000001192092896,
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] | [
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0.0002705305814743042
] | move green can near redbull can | [
0.5624547004699707,
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0.8719045519828796,
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0.799005925655365,
0.09766768664121628,
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1.3439507484436035,
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0.7990408539772034,
0.09763127565383911
] | 3.333333 | 10 | 0 | 10 | 0 |
[
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1.0190919637680054,
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0
] | [
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] | [
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0.00000838935375213623,
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] | [
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0.30000001192092896,
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] | [
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0.30000001192092896,
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] | [
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] | [
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] | 0 | [
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] | [
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] | [
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] | 0 | [
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] | [
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] | [
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] | 0 | [
2.384185791015625e-7,
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0.00023885071277618408
] | move green can near redbull can | [
0.5773670077323914,
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0.83759605884552,
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0.8082148432731628,
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] | [
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1.0943971872329712,
0.2219635248184204,
1.3296360969543457,
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0
] | [
0.5773692727088928,
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0.8375967144966125,
0.2363586574792862,
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0.8082481622695923,
0.10507208108901978
] | 3.666667 | 11 | 0 | 11 | 0 |
[
-1.1917940378189087,
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1.025113821029663,
0.4926612973213196,
2.1526379585266113,
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0.235996276140213
] | [
0.3807334005832672,
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0.7015267610549927,
0.23100252449512482,
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0.8103156089782715,
0.10681354999542236
] | [
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] | 0 | [
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4.76837158203125e-7,
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0,
0.30000001192092896,
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7.227063179016113e-7
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] | [
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] | 0 | [
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] | [
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] | [
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0.2311861217021942,
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0.8101824522018433,
0.10676227509975433
] | [
0,
0.30000001192092896,
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] | 0 | [
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] | [
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] | [
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] | [
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0.6000000238418579,
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] | 0 | [
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] | [
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1.5221729278564453,
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] | [
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] | [
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] | 0 | [
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] | [
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0.235996276140213
] | [
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0.5327580571174622,
0.23128576576709747,
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-0.0002743452787399292,
-0.00019061565399169922,
-0.00007706880569458008,
0.00023680925369262695
] | move green can near redbull can | [
0.5807272791862488,
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0.8327772617340088,
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0.810256838798523,
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0.8102896213531494,
0.10678376257419586
] | 4 | 12 | 0 | 12 | 0 |
[
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1.025113821029663,
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-0.0002743452787399292,
-0.00019061565399169922,
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0.00023680925369262695
] | move green can near redbull can | [
0.5807272791862488,
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0.8327772617340088,
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0.810256838798523,
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1.334197759628296,
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0.23102614283561707,
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0.8102896213531494,
0.10678376257419586
] | 4.333333 | 13 | 0 | 13 | 0 |
[
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0.5552427768707275,
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] | [
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0.8000702857971191,
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0.000004559755325317383,
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0.30000001192092896,
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] | [
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0.6000000238418579,
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] | 0 | [
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1.364150881767273,
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] | [
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] | [
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0.30000001192092896,
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] | 0 | [
2.384185791015625e-7,
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-0.000024706125259399414,
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] | [
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] | [
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] | 0 | [
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-0.000332564115524292,
-0.0002092123031616211,
-0.00005984306335449219,
0.0002525895833969116
] | move green can near redbull can | [
0.5858718156814575,
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0.8674207925796509,
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0.8000124096870422,
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0.25151389837265015
] | [
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1.0557873249053955,
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1.3376554250717163,
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] | [
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0.8674212694168091,
0.2515336573123932,
-0.5395763516426086,
0.8000437021255493,
0.07428515702486038
] | 4.666667 | 14 | 0 | 14 | 0 |
[
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0.7429328560829163,
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2.173689603805542,
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] | [
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] | [
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] | 0 | [
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] | [
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] | [
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] | 0 | [
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] | [
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1.8133544921875,
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0.7835472822189331
] | [
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] | [
0,
0.30000001192092896,
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] | 0 | [
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] | [
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0.13185514509677887,
1.2707712650299072,
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] | [
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] | [
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0.6000000238418579,
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] | 0 | [
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] | [
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1.6012978553771973,
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] | [
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0.7736963033676147,
0.025512102991342545
] | [
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 | [
8.046627044677734e-7,
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0.000003993511199951172,
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0.000024545937776565552
] | [
0.38825616240501404,
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0.2820080518722534,
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2.2453978061676025,
0.7835472822189331
] | [
0.44718697667121887,
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0.6319270730018616,
0.2944648563861847,
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0.025230607017874718
] | [
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] | 0 | [
0.000005781650543212891,
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0.00003254413604736328,
-0.0005092620849609375,
-0.0002702474594116211,
-0.000012159347534179688,
0.0003060419112443924
] | move green can near redbull can | [
0.5971927642822266,
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0.9319596290588379,
-0.5606780648231506,
0.7736783027648926,
0.02553664892911911,
0.29395559430122375
] | [
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0.2976205050945282,
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0.9597131609916687,
0.15104347467422485,
1.353552222251892,
-0.9741461873054504,
0.7835472822189331
] | [
0.5971943140029907,
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0.9319598078727722,
0.2939852774143219,
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0.7737076878547668,
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] | move green can near redbull can | [
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] | 5.333333 | 16 | 0 | 16 | 0 |
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0.00019073486328125,
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] | move green can near redbull can | [
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] | 5.666667 | 17 | 0 | 17 | 0 |
[
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] | move green can near redbull can | [
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0.35126182436943054,
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0.011315255425870419
] | 6 | 18 | 0 | 18 | 0 |
[
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] | [
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0.00009083747863769531,
0.00031924620270729065
] | move green can near redbull can | [
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0.7229571342468262,
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] | 6.333333 | 19 | 0 | 19 | 0 |
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0.00007724761962890625,
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] | move green can near redbull can | [
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0.7025363445281982,
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] | 6.666667 | 20 | 0 | 20 | 0 |
[
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] | 0 | [
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] | [
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] | [
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] | 0 | [
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0.00009924173355102539,
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] | move green can near redbull can | [
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0.4113690257072449,
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0.6894971132278442,
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] | 7 | 21 | 0 | 21 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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] | 0 | [
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] | [
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0.0006259679794311523,
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] | move green can near redbull can | [
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] | move green can near redbull can | [
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] | 7.666667 | 23 | 0 | 23 | 0 |
[
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] | move green can near redbull can | [
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] | 8 | 24 | 0 | 24 | 0 |
[
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] | [
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0.30000001192092896,
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] | 0 | [
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1.7624155282974243,
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0.958916962146759,
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] | [
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0.21884886920452118
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0.30000001192092896,
-0.30000001192092896
] | 0 | [
0.0000032186508178710938,
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3.59136962890625,
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1.5924921035766602,
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-0.0005219578742980957,
-0.00033611059188842773,
0.000026106834411621094,
0.00007145106792449951
] | move green can near redbull can | [
0.7176057696342468,
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0.9271183013916016,
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0.7072494029998779,
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0.7072875499725342,
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] | 8.333333 | 25 | 0 | 25 | 0 |
[
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0.00006784498691558838
] | move green can near redbull can | [
0.7291106581687927,
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] | 8.666667 | 26 | 0 | 26 | 0 |
[
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] | move green can near redbull can | [
0.741435706615448,
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0.8838132619857788,
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0.7206639647483826,
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] | 9 | 27 | 0 | 27 | 0 |
[
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] | [
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] | [
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] | [
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] | [
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] | 0 | [
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] | [
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] | 0 | [
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] | [
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] | [
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] | 0 | [
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0.000018656253814697266,
5.960464477539062e-7,
0.000014662742614746094,
-0.0003081858158111572,
-0.00024500489234924316,
-0.000017762184143066406,
0.00006976723670959473
] | move green can near redbull can | [
0.7524317502975464,
0.16894400119781494,
0.8703043460845947,
-0.48977938294410706,
0.7231200933456421,
0.26644670963287354,
0.40770044922828674
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0.2658751904964447,
0.9715695977210999,
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0.2861742675304413
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0.4077205955982208,
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0.7231600284576416,
0.2664048373699188
] | 9.333333 | 28 | 0 | 28 | 0 |
[
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1.3807371854782104,
1.0432153940200806,
1.7511316537857056,
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0.40987300872802734,
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0.7207537889480591,
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0.00006470084190368652,
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0.30000001192092896,
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] | 0 | [
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] | [
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0.000020295381546020508,
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-0.00036963820457458496,
-0.0002786219120025635,
-0.000004947185516357422,
0.00007018446922302246
] | move green can near redbull can | [
0.7616394758224487,
0.17988502979278564,
0.8660586476325989,
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0.7206864356994629,
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0.2691326141357422,
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0.866059422492981,
0.40996047854423523,
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0.7207269668579102,
0.27159401774406433
] | 9.666667 | 29 | 0 | 29 | 0 |
[
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1.3784741163253784,
1.0610120296478271,
1.7406117916107178,
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0
] | [
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] | [
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0
] | [
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0
] | [
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] | [
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] | 0 | [
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1.0045901536941528,
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0
] | [
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0.6872715353965759,
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] | [
0,
0.30000001192092896,
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] | [
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] | [
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] | [
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] | 0 | [
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0
] | [
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0.27684423327445984
] | [
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0.30000001192092896,
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] | 0 | [
0.000003159046173095703,
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0.000018835067749023438,
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] | [
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3.5747318267822266,
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1.4512574672698975,
0
] | [
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0.5693787932395935,
0.4164179563522339,
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] | [
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] | 0 | [
0.00003165006637573242,
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-0.0004723072052001953,
-0.00033858418464660645,
0.000013768672943115234,
0.00007402896881103516
] | move green can near redbull can | [
0.7664570212364197,
0.18818122148513794,
0.8694025874137878,
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0.7134915590286255,
0.27691131830215454,
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] | [
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0.27763253450393677,
0.9731040000915527,
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0
] | [
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0.8694033622741699,
0.4159698486328125,
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0.713533878326416,
0.27686673402786255
] | 10 | 30 | 0 | 30 | 0 |
[
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1.3787157535552979,
1.0609290599822998,
1.7405924797058105,
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0
] | [
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0.7380780577659607,
0.41581445932388306,
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] | [
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] | 0 | [
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0.00006636977195739746,
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] | [
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2.48614239692688,
0
] | [
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] | [
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] | [
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] | [
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] | 0 | [
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] | [
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0
] | [
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] | [
0,
0.30000001192092896,
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] | 0 | [
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-0.1209351122379303,
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0.02621251344680786,
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] | [
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0
] | [
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] | [
0,
0.6000000238418579,
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] | 0 | [
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] | [
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0
] | [
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0.2768937945365906
] | [
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0.30000001192092896,
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] | 0 | [
0.000003159046173095703,
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0.000018835067749023438,
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0.00006708502769470215
] | [
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3.5748867988586426,
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1.4512872695922852,
0
] | [
0.6163977980613708,
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0.5693019032478333,
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0.7134675979614258,
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] | [
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] | 0 | [
0.00003165006637573242,
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-0.00047206878662109375,
-0.00033846497535705566,
0.000013649463653564453,
0.00007402896881103516
] | move green can near redbull can | [
0.7664294242858887,
0.1882820576429367,
0.8693256378173828,
-0.4912029504776001,
0.7134812474250793,
0.2769608795642853,
0.41588082909584045
] | [
0.2894649803638458,
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0.5173856616020203,
0.6403788924217224,
0.2776208519935608,
0.9730854034423828,
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0
] | [
0.7664286494255066,
0.1882837563753128,
0.8693264126777649,
0.4159049987792969,
-0.49114611744880676,
0.7135235667228699,
0.2769162654876709
] | 10.333333 | 31 | 0 | 31 | 0 |
[
-1.5386946201324463,
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0.08556763827800751,
1.123853087425232,
2.5297415256500244,
-2.3420000076293945,
0
] | [
0.23824016749858856,
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0.16092805564403534,
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0.7805264592170715,
-0.03614143282175064
] | [
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] | 0 | [
0.000002175569534301758,
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0.00005692243576049805,
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End of preview. Expand in Data Studio
fractal20220817_data_train_10000_12500_augmented
Overview
- Codebase version:
v3.0 - Robots: images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e, xarm7
- FPS: 3
- Episodes: 2,500
- Frames: 107,885
- Splits:
train:0:2500
Data Layout
data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
Features
| Feature | dtype | shape | description |
|---|---|---|---|
observation.images.image |
video |
256×320×3 |
Source robot's image from original dataset |
observation.images.jaco |
video |
256×320×3 |
Augmented image for jaco robot |
observation.images.kinova3 |
video |
256×320×3 |
Augmented image for kinova3 robot |
observation.images.kuka_iiwa |
video |
256×320×3 |
Augmented image for kuka_iiwa robot |
observation.images.panda |
video |
256×320×3 |
Augmented image for panda robot |
observation.images.sawyer |
video |
256×320×3 |
Augmented image for sawyer robot |
observation.images.ur5e |
video |
256×320×3 |
Augmented image for ur5e robot |
observation.images.xarm7 |
video |
256×320×3 |
Augmented image for xarm7 robot |
episode_index |
int64 |
1 |
Index of the current episode within the dataset. |
frame_index |
int64 |
1 |
Index of the current frame within its episode. |
index |
int64 |
1 |
Global frame index across the whole dataset. |
natural_language_instruction |
string |
1 |
Natural language command describing the task |
observation.ee_pose |
float32 |
7 |
Source robot's eef position |
observation.jaco.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.jaco.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.jaco.ee_error |
float32 |
7 |
The eef difference between the augmented jaco robot and the original robot |
observation.jaco.ee_pose |
float32 |
7 |
The eef position of jaco robot |
observation.jaco.joints |
float32 |
7 |
The joint position of jaco robot |
observation.joints |
float32 |
8 |
Joint angle of source robot |
observation.kinova3.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.kinova3.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.kinova3.ee_error |
float32 |
7 |
The eef difference between the augmented kinova3 robot and the original robot |
observation.kinova3.ee_pose |
float32 |
7 |
The eef position of kinova3 robot |
observation.kinova3.joints |
float32 |
8 |
The joint position of kinova3 robot |
observation.kuka_iiwa.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.kuka_iiwa.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.kuka_iiwa.ee_error |
float32 |
7 |
The eef difference between the augmented kuka_iiwa robot and the original robot |
observation.kuka_iiwa.ee_pose |
float32 |
7 |
The eef position of kuka_iiwa robot |
observation.kuka_iiwa.joints |
float32 |
8 |
The joint position of kuka_iiwa robot |
observation.panda.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.panda.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.panda.ee_error |
float32 |
7 |
The eef difference between the augmented panda robot and the original robot |
observation.panda.ee_pose |
float32 |
7 |
The eef position of panda robot |
observation.panda.joints |
float32 |
8 |
The joint position of panda robot |
observation.sawyer.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.sawyer.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.sawyer.ee_error |
float32 |
7 |
The eef difference between the augmented sawyer robot and the original robot |
observation.sawyer.ee_pose |
float32 |
7 |
The eef position of sawyer robot |
observation.sawyer.joints |
float32 |
8 |
The joint position of sawyer robot |
observation.state |
float32 |
7 |
Copy of the state field in source robot's RLDS dataset |
observation.ur5e.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.ur5e.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.ur5e.ee_error |
float32 |
7 |
The eef difference between the augmented ur5e robot and the original robot |
observation.ur5e.ee_pose |
float32 |
7 |
The eef position of ur5e robot |
observation.ur5e.joints |
float32 |
7 |
The joint position of ur5e robot |
observation.xarm7.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.xarm7.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.xarm7.ee_error |
float32 |
7 |
The eef difference between the augmented xarm7 robot and the original robot |
observation.xarm7.ee_pose |
float32 |
7 |
The eef position of xarm7 robot |
observation.xarm7.joints |
float32 |
8 |
The joint position of xarm7 robot |
task_index |
int64 |
1 |
Integer ID of the high-level task this episode/frame belongs to. |
timestamp |
float32 |
1 |
Time stamp of the current frame within the episode (in second). |
Website
- Website page: https://oxe-auge.github.io/
- Project repository: https://github.com/GuanhuaJi/oxe-auge
Paper
Citation Policy
If you use OXE-AugE datasets, please cite both our dataset and the upstream datasets.
Upstream Dataset Citation (original dataset)
@misc{googleblog_rt1_2022,
author = {Keerthana Gopalakrishnan and Kanishka Rao},
title = {RT-1: Robotics Transformer for real-world control at scale},
howpublished = {Google Research Blog},
year = {2022},
month = {December},
url = {https://research.google/blog/rt-1-robotics-transformer-for-real-world-control-at-scale/}
}
OXE-AugE Dataset Citation (ours)
@misc{
ji2025oxeauge,
title = {OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning},
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},
journal={arXiv preprint arXiv:2512.13100},
year={2025}
}
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