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oxe-auge
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language_table_train_62000_63000_augmented

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Robotics
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10K - 100K
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robotics
lerobot
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dataset
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  1. README.md +133 -0
  2. README.md.bak +133 -0
  3. data/chunk-000/file-000.parquet +3 -0
  4. meta/episodes/chunk-000/file-000.parquet +3 -0
  5. meta/info.json +475 -0
  6. meta/stats.json +4014 -0
  7. meta/tasks.parquet +3 -0
  8. videos/observation.images.google_robot/chunk-000/file-000.mp4 +3 -0
  9. videos/observation.images.image/chunk-000/file-000.mp4 +3 -0
  10. videos/observation.images.jaco/chunk-000/file-000.mp4 +3 -0
  11. videos/observation.images.kinova3/chunk-000/file-000.mp4 +3 -0
  12. videos/observation.images.kuka_iiwa/chunk-000/file-000.mp4 +3 -0
  13. videos/observation.images.panda/chunk-000/file-000.mp4 +3 -0
  14. videos/observation.images.sawyer/chunk-000/file-000.mp4 +3 -0
  15. videos/observation.images.ur5e/chunk-000/file-000.mp4 +3 -0
README.md ADDED
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1
+ ---
2
+ pretty_name: "language_table_train_62000_63000_augmented"
3
+ license: "cc-by-4.0"
4
+ tags: [robotics, lerobot, oxe-auge, dataset]
5
+ task_categories: [robotics]
6
+
7
+ oxe_aug:
8
+ codebase_version: "v3.0"
9
+ robots: ["google_robot", "images", "jaco", "kinova3", "kuka_iiwa", "panda", "sawyer", "ur5e"]
10
+ fps: 10
11
+ total_episodes: 1000
12
+ total_frames: 15740
13
+ total_videos: null
14
+
15
+ configs:
16
+ - config_name: default
17
+ data_files:
18
+ - split: train
19
+ path:
20
+ - "data/chunk-*/file-*.parquet"
21
+ ---
22
+ # language_table_train_62000_63000_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**: 1,000
30
+ - **Frames**: 15,740
31
+ - **Splits**:
32
+ - `train`: `0:1000`
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
+ ```
README.md.bak ADDED
@@ -0,0 +1,133 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ pretty_name: "language_table_train_62000_63000_augmented"
3
+ license: "cc-by-4.0"
4
+ tags: [robotics, lerobot, oxe-auge, dataset]
5
+ task_categories: [robotics]
6
+
7
+ oxe_aug:
8
+ codebase_version: "v3.0"
9
+ robots: ["google_robot", "images", "jaco", "kinova3", "kuka_iiwa", "panda", "sawyer", "ur5e"]
10
+ fps: 10
11
+ total_episodes: 1000
12
+ total_frames: 15740
13
+ total_videos: null
14
+
15
+ configs:
16
+ - config_name: default
17
+ data_files:
18
+ - split: train
19
+ path:
20
+ - "data/chunk-*/file-*.parquet"
21
+ ---
22
+ # language_table_train_62000_63000_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**: 1,000
30
+ - **Frames**: 15,740
31
+ - **Splits**:
32
+ - `train`: `0:1000`
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
+ ```
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