Datasets:
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Browse files- README.md +133 -0
- README.md.bak +133 -0
- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +475 -0
- meta/stats.json +4014 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.google_robot/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.google_robot/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.image/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.image/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.jaco/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.jaco/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.kinova3/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.kinova3/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.kuka_iiwa/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.kuka_iiwa/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.panda/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.panda/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.sawyer/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.sawyer/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.ur5e/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.ur5e/chunk-000/file-001.mp4 +3 -0
README.md
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| 1 |
+
---
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| 2 |
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pretty_name: "language_table_train_230000_235000_augmented"
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| 3 |
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license: "cc-by-4.0"
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| 4 |
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tags: [robotics, lerobot, oxe-auge, dataset]
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| 5 |
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task_categories: [robotics]
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| 6 |
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|
| 7 |
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oxe_aug:
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| 8 |
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codebase_version: "v3.0"
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| 9 |
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robots: ["google_robot", "images", "jaco", "kinova3", "kuka_iiwa", "panda", "sawyer", "ur5e"]
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| 10 |
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fps: 10
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| 11 |
+
total_episodes: 5000
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| 12 |
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total_frames: 79121
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| 13 |
+
total_videos: null
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| 14 |
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| 15 |
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configs:
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| 16 |
+
- config_name: default
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| 17 |
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data_files:
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| 18 |
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- split: train
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| 19 |
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path:
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| 20 |
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- "data/chunk-*/file-*.parquet"
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| 21 |
+
---
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| 22 |
+
# language_table_train_230000_235000_augmented
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| 23 |
+
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| 24 |
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## Overview
|
| 25 |
+
|
| 26 |
+
- **Codebase version**: `v3.0`
|
| 27 |
+
- **Robots**: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e
|
| 28 |
+
- **FPS**: 10
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| 29 |
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- **Episodes**: 5,000
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| 30 |
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- **Frames**: 79,121
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| 31 |
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- **Splits**:
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| 32 |
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- `train`: `0:5000`
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| 33 |
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| 34 |
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## Data Layout
|
| 35 |
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| 36 |
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```text
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data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
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| 38 |
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video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
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| 39 |
+
```
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| 40 |
+
|
| 41 |
+
## Features
|
| 42 |
+
|
| 43 |
+
| Feature | dtype | shape | description |
|
| 44 |
+
|---|---:|---:|---|
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| 45 |
+
| `observation.images.google_robot` | `video` | `360×640×3` | Augmented image for google_robot robot |
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| 46 |
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| `observation.images.image` | `video` | `360×640×3` | Source robot's image from original dataset |
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| 47 |
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| `observation.images.jaco` | `video` | `360×640×3` | Augmented image for jaco robot |
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| 48 |
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| `observation.images.kinova3` | `video` | `360×640×3` | Augmented image for kinova3 robot |
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| 49 |
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| `observation.images.kuka_iiwa` | `video` | `360×640×3` | Augmented image for kuka_iiwa robot |
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| 50 |
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| `observation.images.panda` | `video` | `360×640×3` | Augmented image for panda robot |
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| 51 |
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| `observation.images.sawyer` | `video` | `360×640×3` | Augmented image for sawyer robot |
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| 52 |
+
| `observation.images.ur5e` | `video` | `360×640×3` | Augmented image for ur5e robot |
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| 53 |
+
| `episode_index` | `int64` | `1` | Index of the current episode within the dataset. |
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| 54 |
+
| `frame_index` | `int64` | `1` | Index of the current frame within its episode. |
|
| 55 |
+
| `index` | `int64` | `1` | Global frame index across the whole dataset. |
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| 56 |
+
| `natural_language_instruction` | `int32` | `512` | Natural language command describing the task |
|
| 57 |
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| `observation.ee_pose` | `float32` | `7` | Source robot's eef position |
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| 58 |
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| `observation.google_robot.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
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| 59 |
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| `observation.google_robot.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
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| 60 |
+
| `observation.google_robot.ee_error` | `float32` | `7` | The eef difference between the augmented google_robot robot and the original robot |
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| 61 |
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| `observation.google_robot.ee_pose` | `float32` | `7` | The eef position of google_robot robot |
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| 62 |
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| `observation.google_robot.joints` | `float32` | `8` | The joint position of google_robot robot |
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| 63 |
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| `observation.jaco.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
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| 64 |
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| `observation.jaco.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
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| 65 |
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| `observation.jaco.ee_error` | `float32` | `7` | The eef difference between the augmented jaco robot and the original robot |
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| 66 |
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| `observation.jaco.ee_pose` | `float32` | `7` | The eef position of jaco robot |
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| 67 |
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| `observation.jaco.joints` | `float32` | `7` | The joint position of jaco robot |
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| 68 |
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| `observation.joints` | `float32` | `8` | Joint angle of source robot |
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| 69 |
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| `observation.kinova3.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
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| 70 |
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| `observation.kinova3.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
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| 71 |
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| `observation.kinova3.ee_error` | `float32` | `7` | The eef difference between the augmented kinova3 robot and the original robot |
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| 72 |
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| `observation.kinova3.ee_pose` | `float32` | `7` | The eef position of kinova3 robot |
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| 73 |
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| `observation.kinova3.joints` | `float32` | `8` | The joint position of kinova3 robot |
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| 74 |
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| `observation.kuka_iiwa.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
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| 75 |
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| `observation.kuka_iiwa.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
|
| 76 |
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| `observation.kuka_iiwa.ee_error` | `float32` | `7` | The eef difference between the augmented kuka_iiwa robot and the original robot |
|
| 77 |
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| `observation.kuka_iiwa.ee_pose` | `float32` | `7` | The eef position of kuka_iiwa robot |
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| 78 |
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| `observation.kuka_iiwa.joints` | `float32` | `8` | The joint position of kuka_iiwa robot |
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| 79 |
+
| `observation.panda.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
|
| 80 |
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| `observation.panda.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
|
| 81 |
+
| `observation.panda.ee_error` | `float32` | `7` | The eef difference between the augmented panda robot and the original robot |
|
| 82 |
+
| `observation.panda.ee_pose` | `float32` | `7` | The eef position of panda robot |
|
| 83 |
+
| `observation.panda.joints` | `float32` | `8` | The joint position of panda robot |
|
| 84 |
+
| `observation.sawyer.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
|
| 85 |
+
| `observation.sawyer.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
|
| 86 |
+
| `observation.sawyer.ee_error` | `float32` | `7` | The eef difference between the augmented sawyer robot and the original robot |
|
| 87 |
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| `observation.sawyer.ee_pose` | `float32` | `7` | The eef position of sawyer robot |
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| 88 |
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| `observation.sawyer.joints` | `float32` | `8` | The joint position of sawyer robot |
|
| 89 |
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| `observation.state` | `float32` | `2` | Copy of the state field in source robot's RLDS dataset |
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| 90 |
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| `observation.ur5e.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
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| 91 |
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| `observation.ur5e.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
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| 92 |
+
| `observation.ur5e.ee_error` | `float32` | `7` | The eef difference between the augmented ur5e robot and the original robot |
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| 93 |
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| `observation.ur5e.ee_pose` | `float32` | `7` | The eef position of ur5e robot |
|
| 94 |
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| `observation.ur5e.joints` | `float32` | `7` | The joint position of ur5e robot |
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| 95 |
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| `task_index` | `int64` | `1` | Integer ID of the high-level task this episode/frame belongs to. |
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| 96 |
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| `timestamp` | `float32` | `1` | Time stamp of the current frame within the episode (in second). |
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| 97 |
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| 98 |
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## Website
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| 99 |
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| 100 |
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- Website page: [https://oxe-auge.github.io/](https://oxe-auge.github.io/)
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| 101 |
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- Project repository: [https://github.com/GuanhuaJi/oxe-auge](https://github.com/GuanhuaJi/oxe-auge)
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| 102 |
+
|
| 103 |
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## Paper
|
| 104 |
+
|
| 105 |
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- [https://arxiv.org/abs/2210.06407](https://arxiv.org/abs/2210.06407)
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| 106 |
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|
| 107 |
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## Citation Policy
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| 108 |
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| 109 |
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If you use **OXE-AugE** datasets, please cite **both** our dataset and the **upstream datasets**.
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| 110 |
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| 111 |
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## Upstream Dataset Citation (original dataset)
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| 112 |
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|
| 113 |
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```bibtex
|
| 114 |
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@article{lynch2022interactive,
|
| 115 |
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title = {Interactive Language: Talking to Robots in Real Time},
|
| 116 |
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author = {Corey Lynch and Ayzaan Wahid and Jonathan Tompson and Tianli Ding and James Betker and Robert Baruch and Travis Armstrong and Pete Florence},
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| 117 |
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journal = {arXiv preprint arXiv:2210.06407},
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| 118 |
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year = {2022},
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| 119 |
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url = {https://arxiv.org/abs/2210.06407}
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| 120 |
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}
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| 121 |
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```
|
| 122 |
+
|
| 123 |
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## OXE-AugE Dataset Citation (ours)
|
| 124 |
+
|
| 125 |
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```bibtex
|
| 126 |
+
@misc{
|
| 127 |
+
ji2025oxeaug,
|
| 128 |
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title = {OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning},
|
| 129 |
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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},
|
| 130 |
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year = {2025},
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| 131 |
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note = {Manuscript}
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| 132 |
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}
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| 133 |
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```
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README.md.bak
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| 1 |
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---
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| 2 |
+
pretty_name: "language_table_train_230000_235000_augmented"
|
| 3 |
+
license: "cc-by-4.0"
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| 4 |
+
tags: [robotics, lerobot, oxe-auge, dataset]
|
| 5 |
+
task_categories: [robotics]
|
| 6 |
+
|
| 7 |
+
oxe_aug:
|
| 8 |
+
codebase_version: "v3.0"
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| 9 |
+
robots: ["google_robot", "images", "jaco", "kinova3", "kuka_iiwa", "panda", "sawyer", "ur5e"]
|
| 10 |
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fps: 10
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| 11 |
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total_episodes: 5000
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| 12 |
+
total_frames: 79121
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| 13 |
+
total_videos: null
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| 14 |
+
|
| 15 |
+
configs:
|
| 16 |
+
- config_name: default
|
| 17 |
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data_files:
|
| 18 |
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- split: train
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| 19 |
+
path:
|
| 20 |
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- "data/chunk-*/file-*.parquet"
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| 21 |
+
---
|
| 22 |
+
# language_table_train_230000_235000_augmented
|
| 23 |
+
|
| 24 |
+
## Overview
|
| 25 |
+
|
| 26 |
+
- **Codebase version**: `v3.0`
|
| 27 |
+
- **Robots**: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e
|
| 28 |
+
- **FPS**: 10
|
| 29 |
+
- **Episodes**: 5,000
|
| 30 |
+
- **Frames**: 79,121
|
| 31 |
+
- **Splits**:
|
| 32 |
+
- `train`: `0:5000`
|
| 33 |
+
|
| 34 |
+
## Data Layout
|
| 35 |
+
|
| 36 |
+
```text
|
| 37 |
+
data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
|
| 38 |
+
video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
|
| 39 |
+
```
|
| 40 |
+
|
| 41 |
+
## Features
|
| 42 |
+
|
| 43 |
+
| Feature | dtype | shape | description |
|
| 44 |
+
|---|---:|---:|---|
|
| 45 |
+
| `observation.images.google_robot` | `video` | `360×640×3` | Augmented image for google_robot robot |
|
| 46 |
+
| `observation.images.image` | `video` | `360×640×3` | Source robot's image from original dataset |
|
| 47 |
+
| `observation.images.jaco` | `video` | `360×640×3` | Augmented image for jaco robot |
|
| 48 |
+
| `observation.images.kinova3` | `video` | `360×640×3` | Augmented image for kinova3 robot |
|
| 49 |
+
| `observation.images.kuka_iiwa` | `video` | `360×640×3` | Augmented image for kuka_iiwa robot |
|
| 50 |
+
| `observation.images.panda` | `video` | `360×640×3` | Augmented image for panda robot |
|
| 51 |
+
| `observation.images.sawyer` | `video` | `360×640×3` | Augmented image for sawyer robot |
|
| 52 |
+
| `observation.images.ur5e` | `video` | `360×640×3` | Augmented image for ur5e robot |
|
| 53 |
+
| `episode_index` | `int64` | `1` | Index of the current episode within the dataset. |
|
| 54 |
+
| `frame_index` | `int64` | `1` | Index of the current frame within its episode. |
|
| 55 |
+
| `index` | `int64` | `1` | Global frame index across the whole dataset. |
|
| 56 |
+
| `natural_language_instruction` | `int32` | `512` | Natural language command describing the task |
|
| 57 |
+
| `observation.ee_pose` | `float32` | `7` | Source robot's eef position |
|
| 58 |
+
| `observation.google_robot.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
|
| 59 |
+
| `observation.google_robot.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
|
| 60 |
+
| `observation.google_robot.ee_error` | `float32` | `7` | The eef difference between the augmented google_robot robot and the original robot |
|
| 61 |
+
| `observation.google_robot.ee_pose` | `float32` | `7` | The eef position of google_robot robot |
|
| 62 |
+
| `observation.google_robot.joints` | `float32` | `8` | The joint position of google_robot robot |
|
| 63 |
+
| `observation.jaco.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
|
| 64 |
+
| `observation.jaco.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
|
| 65 |
+
| `observation.jaco.ee_error` | `float32` | `7` | The eef difference between the augmented jaco robot and the original robot |
|
| 66 |
+
| `observation.jaco.ee_pose` | `float32` | `7` | The eef position of jaco robot |
|
| 67 |
+
| `observation.jaco.joints` | `float32` | `7` | The joint position of jaco robot |
|
| 68 |
+
| `observation.joints` | `float32` | `8` | Joint angle of source robot |
|
| 69 |
+
| `observation.kinova3.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
|
| 70 |
+
| `observation.kinova3.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
|
| 71 |
+
| `observation.kinova3.ee_error` | `float32` | `7` | The eef difference between the augmented kinova3 robot and the original robot |
|
| 72 |
+
| `observation.kinova3.ee_pose` | `float32` | `7` | The eef position of kinova3 robot |
|
| 73 |
+
| `observation.kinova3.joints` | `float32` | `8` | The joint position of kinova3 robot |
|
| 74 |
+
| `observation.kuka_iiwa.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
|
| 75 |
+
| `observation.kuka_iiwa.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
|
| 76 |
+
| `observation.kuka_iiwa.ee_error` | `float32` | `7` | The eef difference between the augmented kuka_iiwa robot and the original robot |
|
| 77 |
+
| `observation.kuka_iiwa.ee_pose` | `float32` | `7` | The eef position of kuka_iiwa robot |
|
| 78 |
+
| `observation.kuka_iiwa.joints` | `float32` | `8` | The joint position of kuka_iiwa robot |
|
| 79 |
+
| `observation.panda.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
|
| 80 |
+
| `observation.panda.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
|
| 81 |
+
| `observation.panda.ee_error` | `float32` | `7` | The eef difference between the augmented panda robot and the original robot |
|
| 82 |
+
| `observation.panda.ee_pose` | `float32` | `7` | The eef position of panda robot |
|
| 83 |
+
| `observation.panda.joints` | `float32` | `8` | The joint position of panda robot |
|
| 84 |
+
| `observation.sawyer.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
|
| 85 |
+
| `observation.sawyer.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
|
| 86 |
+
| `observation.sawyer.ee_error` | `float32` | `7` | The eef difference between the augmented sawyer robot and the original robot |
|
| 87 |
+
| `observation.sawyer.ee_pose` | `float32` | `7` | The eef position of sawyer robot |
|
| 88 |
+
| `observation.sawyer.joints` | `float32` | `8` | The joint position of sawyer robot |
|
| 89 |
+
| `observation.state` | `float32` | `2` | Copy of the state field in source robot's RLDS dataset |
|
| 90 |
+
| `observation.ur5e.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
|
| 91 |
+
| `observation.ur5e.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
|
| 92 |
+
| `observation.ur5e.ee_error` | `float32` | `7` | The eef difference between the augmented ur5e robot and the original robot |
|
| 93 |
+
| `observation.ur5e.ee_pose` | `float32` | `7` | The eef position of ur5e robot |
|
| 94 |
+
| `observation.ur5e.joints` | `float32` | `7` | The joint position of ur5e robot |
|
| 95 |
+
| `task_index` | `int64` | `1` | Integer ID of the high-level task this episode/frame belongs to. |
|
| 96 |
+
| `timestamp` | `float32` | `1` | Time stamp of the current frame within the episode (in second). |
|
| 97 |
+
|
| 98 |
+
## Website
|
| 99 |
+
|
| 100 |
+
- Website page: [https://oxe-auge.github.io/](https://oxe-auge.github.io/)
|
| 101 |
+
- Project repository: [https://github.com/GuanhuaJi/oxe-auge](https://github.com/GuanhuaJi/oxe-auge)
|
| 102 |
+
|
| 103 |
+
## Paper
|
| 104 |
+
|
| 105 |
+
- [https://arxiv.org/abs/2210.06407](https://arxiv.org/abs/2210.06407)
|
| 106 |
+
|
| 107 |
+
## Citation Policy
|
| 108 |
+
|
| 109 |
+
If you use **OXE-AugE** datasets, please cite **both** our dataset and the **upstream datasets**.
|
| 110 |
+
|
| 111 |
+
## Upstream Dataset Citation (original dataset)
|
| 112 |
+
|
| 113 |
+
```bibtex
|
| 114 |
+
@article{lynch2022interactive,
|
| 115 |
+
title = {Interactive Language: Talking to Robots in Real Time},
|
| 116 |
+
author = {Corey Lynch and Ayzaan Wahid and Jonathan Tompson and Tianli Ding and James Betker and Robert Baruch and Travis Armstrong and Pete Florence},
|
| 117 |
+
journal = {arXiv preprint arXiv:2210.06407},
|
| 118 |
+
year = {2022},
|
| 119 |
+
url = {https://arxiv.org/abs/2210.06407}
|
| 120 |
+
}
|
| 121 |
+
```
|
| 122 |
+
|
| 123 |
+
## OXE-AugE Dataset Citation (ours)
|
| 124 |
+
|
| 125 |
+
```bibtex
|
| 126 |
+
@misc{
|
| 127 |
+
ji2025oxeaug,
|
| 128 |
+
title = {OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning},
|
| 129 |
+
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},
|
| 130 |
+
year = {2025},
|
| 131 |
+
note = {Manuscript}
|
| 132 |
+
}
|
| 133 |
+
```
|
data/chunk-000/file-000.parquet
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|
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version https://git-lfs.github.com/spec/v1
|
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+
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|
| 3 |
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size 61483406
|
meta/episodes/chunk-000/file-000.parquet
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|
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
+
size 26936742
|
meta/info.json
ADDED
|
@@ -0,0 +1,475 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "mixed",
|
| 4 |
+
"total_episodes": 5000,
|
| 5 |
+
"total_frames": 79121,
|
| 6 |
+
"total_tasks": 4201,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"fps": 10,
|
| 9 |
+
"splits": {
|
| 10 |
+
"train": "0:5000"
|
| 11 |
+
},
|
| 12 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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"names": null,
|
| 470 |
+
"fps": 10
|
| 471 |
+
}
|
| 472 |
+
},
|
| 473 |
+
"data_files_size_in_mb": 500,
|
| 474 |
+
"video_files_size_in_mb": 500
|
| 475 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,4014 @@
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