Language Table Augmented
Collection
96 items • Updated
Datasets:
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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.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.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 | natural_language_instruction listlengths 512 512 | observation.state listlengths 2 2 | observation.joints listlengths 8 8 | observation.ee_pose listlengths 7 7 | timestamp float32 0 4.7 | frame_index int64 0 47 | episode_index int64 0 999 | index int64 0 15.7k | task_index int64 0 948 |
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End of preview. Expand in Data Studio
language_table_train_106000_107000_augmented
Overview
- Codebase version:
v3.0 - Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e
- FPS: 10
- Episodes: 1,000
- Frames: 15,666
- Splits:
train:0:1000
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.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.panda |
video |
360×640×3 |
Augmented image for panda 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 |
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 |
int32 |
512 |
Natural language command describing the task |
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.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 |
2 |
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 |
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)
@article{lynch2022interactive,
title = {Interactive Language: Talking to Robots in Real Time},
author = {Corey Lynch and Ayzaan Wahid and Jonathan Tompson and Tianli Ding and James Betker and Robert Baruch and Travis Armstrong and Pete Florence},
journal = {arXiv preprint arXiv:2210.06407},
year = {2022},
url = {https://arxiv.org/abs/2210.06407}
}
OXE-AugE Dataset Citation (ours)
@misc{
ji2025oxeaug,
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},
year = {2025},
note = {Manuscript}
}
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