CMU Franka Pick-Insert Augmented
Collection
6 items
•
Updated
Datasets:
observation.widowX.joints
listlengths 7
7
| observation.widowX.ee_pose
listlengths 7
7
| observation.widowX.base_position
listlengths 3
3
| observation.widowX.base_orientation
float32 0
0
| observation.widowX.ee_error
listlengths 7
7
| 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.google_robot.joints
listlengths 8
8
| observation.google_robot.ee_pose
listlengths 7
7
| observation.google_robot.base_position
listlengths 3
3
| observation.google_robot.base_orientation
float32 0
0
| observation.google_robot.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
| 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
| natural_language_instruction
stringclasses 7
values | observation.state
listlengths 20
20
| observation.joints
listlengths 8
8
| observation.ee_pose
listlengths 7
7
| timestamp
float64 0
45.8
| frame_index
int64 0
916
| episode_index
int64 0
130
| index
int64 0
30.1k
| task_index
int64 0
6
|
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
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[
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[
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[
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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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[
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[
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[
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Pick up blue block.
|
[
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[
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[
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| 0
| 0
| 0
|
[
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[
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|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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Pick up blue block.
|
[
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[
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[
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| 1
| 0
| 1
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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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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|
[
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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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[
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[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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0.0000016093254089355469,
0.00014084205031394958,
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] |
Pick up blue block.
|
[
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[
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[
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] | 0.1
| 2
| 0
| 2
| 0
|
[
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[
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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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0
] | 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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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
0,
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] | 0
|
[
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[
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] |
[
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[
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0,
0
] | 0
|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
-0.016432493925094604,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
0.000002562999725341797,
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-0.00012240675278007984,
0.0000016093254089355469,
0.00014084111899137497,
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] |
Pick up blue block.
|
[
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0.00022388729848898947,
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2.94431471824646,
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[
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[
0.31389564275741577,
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] | 0.15
| 3
| 0
| 3
| 0
|
[
-0.07384442538022995,
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
-0.00019268691539764404,
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[
-0.4309621751308441,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.0000095367431640625,
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[
-2.0834898948669434,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.000004112720489501953,
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0,
0.000025156885385513306,
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[
-0.5975919365882874,
1.5803707838058472,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000012755393981933594,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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-0.0000016689300537109375,
-0.00013667158782482147,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000005424022674560547,
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-0.0000057220458984375,
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-5.960464477539062e-7,
-0.0000027650967240333557,
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[
-0.11981314420700073,
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-2.094399929046631,
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] |
[
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0.9853900671005249,
-0.008104728534817696,
-0.16991856694221497
] |
[
0,
0,
0
] | 0
|
[
-0.016438573598861694,
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-0.0015185028314590454,
0.011060552671551704,
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0.0003292728215456009,
0.17362746596336365
] |
[
0.6818215847015381,
-0.640685498714447,
-0.6985349059104919,
0.5196765661239624,
-0.4591180384159088,
1.0779106616973877,
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0
] |
[
0.3138454854488373,
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[
0,
0,
0
] | 0
|
[
0.000002562999725341797,
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-0.00012241373769938946,
0.0000015497207641601562,
0.00014083553105592728,
-0.0000330507755279541
] |
Pick up blue block.
|
[
-0.0707864984869957,
-0.6350681781768799,
0.0007267988985404372,
-2.912445306777954,
-0.006642790511250496,
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1,
3.5629398822784424,
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3.5566909313201904,
0.2907484769821167,
1.5301766395568848,
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-0.48229148983955383,
-0.303026020526886
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[
-0.07107393443584442,
-0.6350612640380859,
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-2.9123198986053467,
-0.0066480329260230064,
2.2850029468536377,
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0
] |
[
0.3138480484485626,
-0.023309718817472458,
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0.9999589920043945,
-0.007775455713272095,
0.003708898788318038,
0.0027880072593688965
] | 0.2
| 4
| 0
| 4
| 0
|
[
-0.07369542866945267,
-0.4694150984287262,
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-0.05943279340863228,
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0
] |
[
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-0.02574244700372219,
0.00286685349419713
] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
-0.00019218027591705322,
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-0.02487294189631939,
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0.0007775449194014072
] |
[
-0.43101757764816284,
-1.5985409021377563,
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2.5343995094299316,
-0.012300504371523857,
0.625116765499115,
-3.596691131591797,
0
] |
[
0.3138026297092438,
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] |
[
0,
0,
0
] | 0
|
[
-0.0000095367431640625,
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-0.0003552013076841831,
0.0000013709068298339844,
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] |
[
-2.083402633666992,
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2.3282623291015625,
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0
] |
[
0.3137972056865692,
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[
0,
0,
0
] | 0
|
[
-0.000004112720489501953,
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[
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[
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[
0,
0,
0
] | 0
|
[
-0.000012755393981933594,
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[
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] |
[
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[
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|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000005424022674560547,
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[
-0.11970844119787216,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.016445785760879517,
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[
0.6817976832389832,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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0.0000015497207641601562,
0.00014082761481404305,
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] |
Pick up blue block.
|
[
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[
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] |
[
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] | 0.25
| 5
| 0
| 5
| 0
|
[
-0.07278018444776535,
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] |
[
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[
-0.15000000596046448,
0,
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] | 0
|
[
-0.00018887221813201904,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.0000095367431640625,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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0,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
0.27279770374298096,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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0.00033709313720464706,
-0.0000016689300537109375,
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[
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2.1003193855285645,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.000005424022674560547,
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0.000014931196346879005,
-5.960464477539062e-7,
-0.0000027711503207683563,
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] |
[
-0.11908493936061859,
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-2.094399929046631,
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0
] |
[
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0.985370397567749,
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] |
[
0,
0,
0
] | 0
|
[
-0.016446799039840698,
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-0.0015161335468292236,
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0.00036569079384207726,
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] |
[
0.6818192601203918,
-0.6403414011001587,
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0.5194939970970154,
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1.0778151750564575,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
0.000002562999725341797,
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-0.0000018477439880371094,
-0.00012244051322340965,
0.0000015497207641601562,
0.00014083366841077805,
-0.00003306637518107891
] |
Pick up blue block.
|
[
-0.0706288069486618,
-0.6351017355918884,
0.002946271561086178,
-2.9124391078948975,
-0.006234333850443363,
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0.7343024611473083,
1,
4.085598468780518,
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1.7038679122924805,
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[
-0.0707864984869957,
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-2.912445306777954,
-0.006642790511250496,
2.2850019931793213,
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] |
[
0.3138056695461273,
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0.9999616742134094,
-0.007391073275357485,
0.0036391953472048044,
0.0029595387168228626
] | 0.3
| 6
| 0
| 6
| 0
|
[
-0.07157830893993378,
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0.8482275605201721,
-0.05945845693349838,
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] |
[
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[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
-0.00018450617790222168,
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-0.02446664683520794,
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] |
[
-0.4294706881046295,
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2.534074306488037,
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0.6250891089439392,
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] |
[
0.313834011554718,
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[
0,
0,
0
] | 0
|
[
-0.0000095367431640625,
-0.00001241825520992279,
-0.000006973743438720703,
-0.0003555028233677149,
0.000001430511474609375,
0.00018203910440206528,
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] |
[
-2.0815842151641846,
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2.328336238861084,
-1.864621639251709,
-1.5730620622634888,
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0
] |
[
0.31382858753204346,
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0.1784628927707672,
0.003255503484979272,
0.9999640583992004,
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0.0035588734317570925
] |
[
0,
0,
0
] | 0
|
[
-0.000004112720489501953,
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-0.000002175569534301758,
-0.00002516317181289196,
-5.960464477539063e-8,
0.000025174580514431,
0.00007429090328514576
] |
[
-0.5958888530731201,
1.580838680267334,
1.464982032775879,
1.9288209676742554,
1.5158170461654663,
-1.4795759916305542,
1.350000023841858,
0
] |
[
0.3136567175388336,
-0.022771524265408516,
0.20345067977905273,
0.003042223397642374,
0.9999662041664124,
-0.006764118559658527,
0.0035539588425308466
] |
[
0,
0,
0
] | 0
|
[
-0.000012755393981933594,
0.00001101754605770111,
0.000008851289749145508,
0.0001881169155240059,
-0.000002205371856689453,
-0.00018758699297904968,
0.00007920549251139164
] |
[
0.27174806594848633,
2.7437856197357178,
5.310435771942139,
0.1760493963956833,
-0.6574098467826843,
-2.719932794570923,
0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
0.0000016391277313232422,
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-7.599592208862305e-7,
0.00033730571158230305,
-0.0000017285346984863281,
-0.00013675913214683533,
-0.00007208948954939842
] |
[
0.09062125533819199,
0.17407509684562683,
-0.11887573450803757,
2.1003026962280273,
0.03583674132823944,
0.8619654178619385,
-0.06354450434446335,
0
] |
[
0.3138298988342285,
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0.17846645414829254,
0.003215346485376358,
0.9999645948410034,
-0.006948928348720074,
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] |
[
0,
0,
0
] | 0
|
[
-0.000005424022674560547,
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-0.000005736947059631348,
0.000014993827790021896,
-5.960464477539062e-7,
-0.000002777203917503357,
0.00013956334441900253
] |
[
-0.11816558241844177,
0.47474780678749084,
0.05811861529946327,
-2.094399929046631,
-0.03740472346544266,
0.9157454371452332,
-0.01899348385632038,
0
] |
[
0.33027222752571106,
-0.024058841168880463,
0.17997713387012482,
-0.0076819173991680145,
0.9853745102882385,
-0.007371201179921627,
-0.17006994783878326
] |
[
0,
0,
0
] | 0
|
[
-0.016447752714157104,
0.0011355597525835037,
-0.0015164166688919067,
0.010912258177995682,
0.014589488506317139,
0.00041949562728405,
0.1737031191587448
] |
[
0.6816961169242859,
-0.6398066282272339,
-0.6968660354614258,
0.5194762349128723,
-0.45865190029144287,
1.0776946544647217,
-2.810168504714966,
0
] |
[
0.3138219118118286,
-0.022916268557310104,
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0.0033528006169945,
0.9999625086784363,
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0.0036662539932876825
] |
[
0,
0,
0
] | 0
|
[
0.000002562999725341797,
-0.000007012858986854553,
-0.0000018477439880371094,
-0.00012246030382812023,
0.0000014901161193847656,
0.00014084111899137497,
-0.0000330896582454443
] |
Pick up blue block.
|
[
-0.0700872465968132,
-0.6351339221000671,
0.004219033755362034,
-2.912428617477417,
-0.005848498549312353,
2.2850430011749268,
0.7343092560768127,
1,
4.544496059417725,
0.04981522634625435,
-1.755510926246643,
0.29073116183280945,
2.076500177383423,
0.31777259707450867,
4.530595779418945,
-0.11633864790201187,
1.7881016731262207,
0.26084697246551514,
-0.4367794096469879,
-0.2045542299747467
] |
[
-0.07066629827022552,
-0.6350811719894409,
0.0016765905311331153,
-2.912442684173584,
-0.006618003826588392,
2.285006284713745,
0.7343048453330994,
0
] |
[
0.31382447481155396,
-0.02292328141629696,
0.1784607172012329,
0.9999639987945557,
-0.006951705552637577,
0.0036331643350422382,
0.00323034031316638
] | 0.35
| 7
| 0
| 7
| 0
|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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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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[
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[
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[
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|
[
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] |
Pick up blue block.
|
[
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[
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[
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| 8
| 0
| 8
| 0
|
[
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[
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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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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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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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] | 0
|
[
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[
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[
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[
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] | 0
|
[
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0.00014085369184613228,
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] |
Pick up blue block.
|
[
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[
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[
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] | 0.45
| 9
| 0
| 9
| 0
|
[
-0.06380385905504227,
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
-0.00015617907047271729,
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[
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[
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[
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] | 0
|
[
-0.00000947713851928711,
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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0.9999740719795227,
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[
0,
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0
] | 0
|
[
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0.00014089001342654228,
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] |
Pick up blue block.
|
[
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[
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[
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| 10
| 0
| 10
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
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] | 0
|
[
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0.0000010132789611816406,
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] |
Pick up blue block.
|
[
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[
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[
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| 11
| 0
| 11
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
-0.000009298324584960938,
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5.960464477539063e-8,
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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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[
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[
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|
[
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[
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[
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[
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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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[
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[
0,
0,
0
] | 0
|
[
-0.016366571187973022,
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[
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[
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[
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|
[
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8.344650268554688e-7,
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] |
Pick up blue block.
|
[
-0.04491623491048813,
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[
-0.05906189605593681,
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[
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] | 0.6
| 12
| 0
| 12
| 0
|
[
-0.04203973710536957,
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
-0.00007915496826171875,
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[
-0.40264400839805603,
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[
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[
0,
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] | 0
|
[
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[
-2.0557756423950195,
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[
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[
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|
[
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[
-0.580777645111084,
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[
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[
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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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0.037952907383441925,
0.8633373975753784,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
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|
[
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6.556510925292969e-7,
0.0001411174307577312,
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] |
Pick up blue block.
|
[
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[
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[
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| 13
| 0
| 13
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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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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[
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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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[
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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-0.00012276764027774334,
4.76837158203125e-7,
0.00014122540596872568,
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] |
Pick up blue block.
|
[
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[
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[
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] | 0.7
| 14
| 0
| 14
| 0
|
[
-0.021932000294327736,
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
-0.000029474496841430664,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000008761882781982422,
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[
-2.0366435050964355,
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0
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[
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[
0,
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] | 0
|
[
-0.000003814697265625,
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[
-0.5712195634841919,
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] |
[
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[
0,
0,
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] | 0
|
[
-0.000013202428817749023,
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[
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] |
[
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[
0,
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] | 0
|
[
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1.1920928955078125e-7,
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[
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] |
[
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[
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] | 0
|
[
-0.0000053942203521728516,
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[
-0.08555825054645538,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.015985965728759766,
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[
0.6962810754776001,
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0.527938723564148,
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] |
[
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[
0,
0,
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] | 0
|
[
0.0000028312206268310547,
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-0.00012275297194719315,
2.384185791015625e-7,
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] |
Pick up blue block.
|
[
-0.03046693280339241,
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-2.9006476402282715,
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1,
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[
-0.038628775626420975,
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-2.904576539993286,
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] |
[
0.3187502920627594,
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] | 0.75
| 15
| 0
| 15
| 0
|
[
-0.014482870697975159,
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] |
[
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[
-0.15000000596046448,
0,
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] | 0
|
[
-0.000016689300537109375,
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-0.009514127857983112,
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[
-0.372366338968277,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.00000864267349243164,
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[
-2.0293781757354736,
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0
] |
[
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[
0,
0,
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] | 0
|
[
-0.0000037848949432373047,
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-7.152557373046875e-7,
0.000023813452571630478,
0.00007121451199054718
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[
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1.9231810569763184,
1.496768593788147,
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1.350000023841858,
0
] |
[
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0.002504790900275111,
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[
0,
0,
0
] | 0
|
[
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[
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[
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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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0
] | 0
|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
0,
0,
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] | 0
|
[
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1.1920928955078125e-7,
0.00014148885384202003,
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] |
Pick up blue block.
|
[
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[
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[
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] | 0.8
| 16
| 0
| 16
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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|
[
-0.000008434057235717773,
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[
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[
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[
0,
0,
0
] | 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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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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2.0855696201324463,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.0000053942203521728516,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.015754103660583496,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
0.0000029206275939941406,
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-0.00012273015454411507,
-5.960464477539063e-8,
0.00014160433784127235,
-0.000037486664950847626
] |
Pick up blue block.
|
[
-0.026570189744234085,
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0.019530151039361954,
-2.8999290466308594,
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1,
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2.2723629474639893,
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[
-0.03046693280339241,
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-2.9006476402282715,
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] |
[
0.32072266936302185,
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0.9999198913574219,
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] | 0.85
| 17
| 0
| 17
| 0
|
[
-0.004649826791137457,
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
-0.0000050067901611328125,
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[
-0.36222344636917114,
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2.523040771484375,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000008434057235717773,
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[
-2.0204579830169678,
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0
] |
[
0.32126396894454956,
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[
0,
0,
0
] | 0
|
[
-0.0000036954879760742188,
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-0.0000244916882365942,
-8.940696716308594e-7,
0.000023563392460346222,
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] |
[
-0.5629609227180481,
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1.350000023841858,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.0000133514404296875,
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-5.960464477539063e-8,
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[
0.2125113606452942,
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-0.6695265769958496,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
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-4.6193599700927734e-7,
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9.5367431640625e-7,
-0.00014053517952561378,
-0.00006130710244178772
] |
[
0.055090900510549545,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000005364418029785156,
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-0.000005736947059631348,
0.000013715121895074844,
-0.0000016093254089355469,
-0.000004730187356472015,
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[
-0.0744936540722847,
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-2.094399929046631,
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0
] |
[
0.3369651138782501,
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-0.0008786279358901083,
0.9878759384155273,
0.0060523515567183495,
-0.15512478351593018
] |
[
0,
0,
0
] | 0
|
[
-0.015704840421676636,
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-0.0017665326595306396,
0.003060433082282543,
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0.00040340982377529144,
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] |
[
0.7020864486694336,
-0.6169866323471069,
-0.6601043343544006,
0.533096194267273,
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] |
[
0.3212573230266571,
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[
0,
0,
0
] | 0
|
[
0.000002950429916381836,
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-0.0001228137407451868,
-1.7881393432617188e-7,
0.00014170072972774506,
-0.000037690624594688416
] |
Pick up blue block.
|
[
-0.024192672222852707,
-0.6348317861557007,
0.019589191302657127,
-2.899637222290039,
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1,
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-1.635913610458374,
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-2.192003011703491,
1.862060785293579,
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-0.889599084854126,
0.3606160581111908
] |
[
-0.028796367347240448,
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-2.9001080989837646,
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2.288761854171753,
0.7528884410858154,
0
] |
[
0.3212602734565735,
-0.004460342228412628,
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0.9999066591262817,
0.006455761380493641,
0.011843566782772541,
0.0021818052046000957
] | 0.9
| 18
| 0
| 18
| 0
|
[
-0.0016106070252135396,
-0.46440762281417847,
0.8178278803825378,
-0.018160704523324966,
1.191803216934204,
-3.141580104827881,
0
] |
[
0.17116595804691315,
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] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
-0.0000025779008865356445,
-0.0005756188184022903,
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-0.006454458925873041,
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0.00484491279348731,
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[
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[
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[
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|
[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
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|
[
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0.0001418241299688816,
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] |
Pick up blue block.
|
[
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[
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[
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] | 0.95
| 19
| 0
| 19
| 0
|
[
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[
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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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0
] | 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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[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
0,
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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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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
0.0000029802322387695312,
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-0.00012317264918237925,
-3.5762786865234375e-7,
0.00014197733253240585,
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] |
Pick up blue block.
|
[
-0.014811862260103226,
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0.02053035981953144,
-2.895307779312134,
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[
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[
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] | 1
| 20
| 0
| 20
| 0
|
[
0.00560684222728014,
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
0.0000018328428268432617,
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[
-0.35337910056114197,
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[
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[
0,
0,
0
] | 0
|
[
-0.000008314847946166992,
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-0.000005364418029785156,
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[
-2.010958194732666,
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] |
[
0.3239270746707916,
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[
0,
0,
0
] | 0
|
[
-0.000003635883331298828,
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[
-0.5578221678733826,
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1.350000023841858,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000013440847396850586,
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1.1920928955078125e-7,
-0.00019179843366146088,
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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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-0.00014200247824192047,
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] |
[
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.0000053942203521728516,
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-0.000005766749382019043,
0.000013491720892488956,
-0.000002205371856689453,
-0.0000050943344831466675,
0.00014095008373260498
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[
-0.06822389364242554,
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-2.094399929046631,
-0.04294648393988609,
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[
0.33938631415367126,
-0.0015026157489046454,
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-0.00025747789186425507,
0.9887686967849731,
0.008180794306099415,
-0.14922960102558136
] |
[
0,
0,
0
] | 0
|
[
-0.015462875366210938,
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-0.0018173903226852417,
0.0019057794706895947,
0.011068642139434814,
0.0003336183726787567,
0.16504240036010742
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[
0.7055328488349915,
-0.6122356057167053,
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0.5357142686843872,
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1.0515096187591553,
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] |
[
0.3239203989505768,
-0.0014552139909937978,
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[
0,
0,
0
] | 0
|
[
0.000003039836883544922,
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-0.0000017583370208740234,
-0.00012342690024524927,
-4.172325134277344e-7,
0.00014218781143426895,
-0.00003837794065475464
] |
Pick up blue block.
|
[
-0.006239163689315319,
-0.6278950572013855,
0.02094751037657261,
-2.890749216079712,
0.012719159945845604,
2.303788423538208,
0.7697347402572632,
1,
8.439735412597656,
2.462455987930298,
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3.677903413772583,
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2.0603697299957275,
0.06983713060617447,
-1.0145883560180664,
0.36218324303627014
] |
[
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0.01187177561223507,
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[
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| 21
| 0
| 21
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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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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0.000013458775356411934,
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[
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[
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[
0,
0,
0
] | 0
|
[
-0.015230655670166016,
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[
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[
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[
0,
0,
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|
[
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0.00014241505414247513,
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] |
Pick up blue block.
|
[
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[
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[
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] | 1.1
| 22
| 0
| 22
| 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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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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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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] |
[
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[
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] | 0
|
[
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[
-0.05548878386616707,
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[
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[
0,
0,
0
] | 0
|
[
-0.014881253242492676,
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0.00031634699553251266,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
0.000003159046173095703,
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-0.00012438208796083927,
-2.980232238769531e-7,
0.00014269910752773285,
-0.00004024617373943329
] |
Pick up blue block.
|
[
0.010339631699025631,
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0.022361282259225845,
-2.8785488605499268,
0.012967252172529697,
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1,
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[
-0.006239163689315319,
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] |
[
0.3284628689289093,
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] | 1.15
| 23
| 0
| 23
| 0
|
[
0.039449382573366165,
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
0.0000016391277313232422,
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2.2351741790771484e-7,
-0.000197039102204144,
-8.344650268554688e-7,
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[
-0.3307754397392273,
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2.516550302505493,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000007957220077514648,
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[
-1.9812952280044556,
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0
] |
[
0.3311356008052826,
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[
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0,
0
] | 0
|
[
-0.0000033676624298095703,
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[
-0.5444512367248535,
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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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[
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] | 0
|
[
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[
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[
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[
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|
[
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[
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[
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0.9909555315971375,
0.008843465708196163,
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] |
[
0,
0,
0
] | 0
|
[
-0.014472216367721558,
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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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0.00014298316091299057,
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] |
Pick up blue block.
|
[
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[
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[
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] | 1.2
| 24
| 0
| 24
| 0
|
[
0.05682860314846039,
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[
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[
-0.15000000596046448,
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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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[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
] | 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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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
-0.013942807912826538,
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[
0.7019782066345215,
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[
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[
0,
0,
0
] | 0
|
[
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-0.00012696010526269674,
-1.7881393432617188e-7,
0.00014337152242660522,
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] |
Pick up blue block.
|
[
0.02959509566426277,
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0.0259382426738739,
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0.013411236926913261,
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1,
6.704102516174316,
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[
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[
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] | 1.25
| 25
| 0
| 25
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
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[
-0.3199951648712158,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000007867813110351562,
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[
-1.9525820016860962,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000003129243850708008,
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[
-0.5256640911102295,
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] |
[
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[
0,
0,
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] | 0
|
[
-0.000013738870620727539,
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-1.7881393432617188e-7,
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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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[
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[
0,
0,
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] | 0
|
[
-0.0000053942203521728516,
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[
-0.030768796801567078,
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-2.094399929046631,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.013216376304626465,
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-0.0017961710691452026,
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0.00032074376940727234,
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[
0.6959519386291504,
-0.5462344288825989,
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] |
[
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[
0,
0,
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] | 0
|
[
0.0000035762786865234375,
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-0.00012924754992127419,
-1.1920928955078125e-7,
0.00014398247003555298,
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] |
Pick up blue block.
|
[
0.0398181788623333,
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-2.840777635574341,
0.013944451697170734,
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1,
5.739039421081543,
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1.512420654296875,
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[
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] |
[
0.3387119472026825,
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0.9996293783187866,
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0.02545938827097416,
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] | 1.3
| 26
| 0
| 26
| 0
|
[
0.09670908749103546,
-0.39361652731895447,
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] |
[
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[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.0000028461217880249023,
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-0.00018343492411077023,
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[
-0.31569719314575195,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.000007838010787963867,
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[
-1.933855652809143,
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[
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[
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] | 0
|
[
-0.000002950429916381836,
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[
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[
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[
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|
[
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[
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] |
[
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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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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
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0
] | 0
|
[
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5.960464477539063e-8,
0.00014473125338554382,
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] |
Pick up blue block.
|
[
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[
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[
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] | 1.35
| 27
| 0
| 27
| 0
|
[
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[
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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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0
] | 0
|
[
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[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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0.0000021457672119140625,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
-0.011241316795349121,
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0.004265427589416504,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
0.000003904104232788086,
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-0.00013668928295373917,
1.7881393432617188e-7,
0.0001456933096051216,
-0.00004868023097515106
] |
Pick up blue block.
|
[
0.058800965547561646,
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0.03681562468409538,
-2.8004772663116455,
0.014044372364878654,
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1,
6.539857864379883,
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1.5898256301879883,
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[
0.0398181788623333,
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] |
[
0.3499950170516968,
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0.009737196378409863,
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] | 1.4
| 28
| 0
| 28
| 0
|
[
0.14209900796413422,
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
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[
-0.3118627965450287,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000007927417755126953,
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[
-1.889715313911438,
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2.263368606567383,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.000002592802047729492,
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0.00006259046494960785
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[
-0.4752902090549469,
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-1.5479503870010376,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.000013917684555053711,
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-4.172325134277344e-7,
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[
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] |
[
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[
0,
0,
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] | 0
|
[
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-0.00015062745660543442,
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[
-0.019744647666811943,
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2.004878520965576,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.0000053942203521728516,
6.854534149169922e-7,
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0.000013303360901772976,
-0.0000040531158447265625,
-0.000010048039257526398,
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[
0.006191353779286146,
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-2.094399929046631,
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] |
[
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-0.08338762074708939
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[
0,
0,
0
] | 0
|
[
-0.010030150413513184,
-0.0008167270570993423,
-0.001429334282875061,
-0.007870080880820751,
0.0031167268753051758,
0.00040755048394203186,
0.11183053255081177
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[
0.6391803026199341,
-0.4407038390636444,
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0.6089268326759338,
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] |
[
0.35656338930130005,
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[
0,
0,
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] | 0
|
[
0.000004023313522338867,
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-0.00014199037104845047,
1.1920928955078125e-7,
0.0001468108966946602,
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] |
Pick up blue block.
|
[
0.06280868500471115,
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0.04031841829419136,
-2.778610944747925,
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1,
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1.572589635848999,
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[
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-2.8225808143615723,
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] |
[
0.3565674126148224,
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0.009991185739636421,
0.028442908078432083,
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] | 1.45
| 29
| 0
| 29
| 0
|
[
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-0.2995976209640503,
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] |
[
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[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.000004127621650695801,
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2.1606683731079102e-7,
-0.00016494235023856163,
-5.960464477539063e-8,
0.00014958344399929047,
-0.000039752572774887085
] |
[
-0.3167777359485626,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.000008106231689453125,
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[
-1.8672195672988892,
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Pick up blue block.
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Pick up blue block.
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| 31
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| 31
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|
End of preview. Expand
in Data Studio
iamlab_cmu_pickup_insert_train_500_631_augmented
Overview
- Codebase version:
v2.1 - Robots: google_robot, images, jaco, kinova3, kuka_iiwa, sawyer, ur5e, widowX, xarm7
- FPS: 20.0
- Episodes: 131
- Frames: 30,143
- Videos: 1,179
- Chunks: 1
- Splits:
train:0:131
Data Layout
data_path : data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
Features
| Feature | dtype | shape | description |
|---|---|---|---|
observation.images.google_robot |
video |
360×640×3 |
Augmented image for google_robot robot |
observation.images.image |
video |
360×640×3 |
Source robot's image from original dataset |
observation.images.jaco |
video |
360×640×3 |
Augmented image for jaco robot |
observation.images.kinova3 |
video |
360×640×3 |
Augmented image for kinova3 robot |
observation.images.kuka_iiwa |
video |
360×640×3 |
Augmented image for kuka_iiwa robot |
observation.images.sawyer |
video |
360×640×3 |
Augmented image for sawyer robot |
observation.images.ur5e |
video |
360×640×3 |
Augmented image for ur5e robot |
observation.images.widowX |
video |
360×640×3 |
Augmented image for widowX robot |
observation.images.xarm7 |
video |
360×640×3 |
Augmented image for xarm7 robot |
episode_index |
int64 |
1 |
- |
frame_index |
int64 |
1 |
- |
index |
int64 |
1 |
- |
natural_language_instruction |
string |
1 |
- |
observation.ee_pose |
float32 |
7 |
Source robot's eef position |
observation.google_robot.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.google_robot.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.google_robot.ee_error |
float32 |
7 |
The eef difference between the augmented google_robot robot and the original robot |
observation.google_robot.ee_pose |
float32 |
7 |
The eef position of google_robot robot |
observation.google_robot.joints |
float32 |
8 |
The joint position of google_robot robot |
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.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 |
20 |
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.widowX.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.widowX.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.widowX.ee_error |
float32 |
7 |
The eef difference between the augmented widowX robot and the original robot |
observation.widowX.ee_pose |
float32 |
7 |
The eef position of widowX robot |
observation.widowX.joints |
float32 |
7 |
The joint position of widowX 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 |
- |
timestamp |
float32 |
1 |
- |
Website
- Website page: https://oxe-aug.github.io/
- Project repository: https://github.com/GuanhuaJi/oxe-aug
Paper
Citation Policy
If you use OXE-Aug datasets, please cite both our dataset and the upstream datasets.
Upstream Dataset Citation (original dataset)
@inproceedings{saxena2023multiresolution,
title={Multi-Resolution Sensing for Real-Time Control with Vision-Language Models},
author={Saumya Saxena and Mohit Sharma and Oliver Kroemer},
booktitle={7th Annual Conference on Robot Learning},
year={2023},
url={https://openreview.net/forum?id=WuBv9-IGDUA}
}
OXE-Aug Dataset Citation (ours)
@misc{
ji2025oxeaug,
title = {OXE-Aug: 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},
year = {2025},
note = {Manuscript}
}
- Downloads last month
- 380
Size of downloaded dataset files:
35.1 MB
Size of the auto-converted Parquet files:
35.1 MB
Number of rows:
30,143