Add files using upload-large-folder tool

README.md

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+---
+pretty_name: "viola_test_augmented"
+license: "cc-by-4.0"
+tags: [robotics, lerobot, oxe-auge, dataset]
+task_categories: [robotics]
+
+oxe_aug:
+  codebase_version: "v3.0"
+  robots: ["google_robot", "images", "jaco", "kinova3", "kuka_iiwa", "sawyer", "ur5e", "widowX", "xarm7"]
+  fps: 20
+  total_episodes: 15
+  total_frames: 7411
+  total_videos: null
+
+configs:
+  - config_name: default
+    data_files:
+      - split: train
+        path:
+          - "data/chunk-*/file-*.parquet"
+---
+# viola_test_augmented
+
+## Overview
+
+- **Codebase version**: `v3.0`
+- **Robots**: google_robot, images, jaco, kinova3, kuka_iiwa, sawyer, ur5e, widowX, xarm7
+- **FPS**: 20
+- **Episodes**: 15
+- **Frames**: 7,411
+- **Splits**:
+  - `train`: `0:15`
+
+## Data Layout
+
+```text
+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` | `224×224×3` | Augmented image for google_robot robot |
+| `observation.images.image` | `video` | `224×224×3` | Source robot's image from original dataset |
+| `observation.images.jaco` | `video` | `224×224×3` | Augmented image for jaco robot |
+| `observation.images.kinova3` | `video` | `224×224×3` | Augmented image for kinova3 robot |
+| `observation.images.kuka_iiwa` | `video` | `224×224×3` | Augmented image for kuka_iiwa robot |
+| `observation.images.sawyer` | `video` | `224×224×3` | Augmented image for sawyer robot |
+| `observation.images.ur5e` | `video` | `224×224×3` | Augmented image for ur5e robot |
+| `observation.images.widowX` | `video` | `224×224×3` | Augmented image for widowX robot |
+| `observation.images.xarm7` | `video` | `224×224×3` | Augmented image for xarm7 robot |
+| `episode_index` | `int64` | `1` | Index of the current episode within the dataset. |
+| `frame_index` | `int64` | `1` | Index of the current frame within its episode. |
+| `index` | `int64` | `1` | Global frame index across the whole dataset. |
+| `natural_language_instruction` | `string` | `1` | Natural language command describing the task |
+| `observation.ee_pose` | `float32` | `7` | Source robot's eef position |
+| `observation.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` | `16` | 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` | 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/](https://oxe-auge.github.io/)
+- Project repository: [https://github.com/GuanhuaJi/oxe-auge](https://github.com/GuanhuaJi/oxe-auge)
+
+## Paper
+
+- [https://proceedings.mlr.press/v205/zhu23a.html](https://proceedings.mlr.press/v205/zhu23a.html)
+
+## Citation Policy
+
+If you use **OXE-AugE** datasets, please cite **both** our dataset and the **upstream datasets**.
+
+## Upstream Dataset Citation (original dataset)
+
+```bibtex
+@inproceedings{zhu2023viola,
+  title     = {VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priors},
+  author    = {Zhu, Yifeng and Joshi, Abhishek and Stone, Peter and Zhu, Yuke},
+  booktitle = {Proceedings of The 6th Conference on Robot Learning},
+  series    = {Proceedings of Machine Learning Research},
+  volume    = {205},
+  pages     = {1199--1210},
+  year      = {2023},
+  publisher = {PMLR},
+  url       = {https://proceedings.mlr.press/v205/zhu23a.html}
+}
+```
+
+## OXE-AugE Dataset Citation (ours)
+
+```bibtex
+@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}
+}
+```

data/chunk-000/file-000.parquet

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meta/episodes/chunk-000/file-000.parquet

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meta/info.json

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+{
+    "codebase_version": "v3.0",
+    "robot_type": "mixed",
+    "total_episodes": 15,
+    "total_frames": 7411,
+    "total_tasks": 3,
+    "chunks_size": 1000,
+    "fps": 20,
+    "splits": {
+        "train": "0:15"
+    },
+    "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": {
+        "observation.widowX.joints": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 20
+        },
+        "observation.widowX.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 20
+        },
+        "observation.widowX.base_position": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "fps": 20
+        },
+        "observation.widowX.base_orientation": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "fps": 20
+        },
+        "observation.widowX.ee_error": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 20
+        },
+        "observation.images.widowX": {
+            "dtype": "video",
+            "shape": [
+                224,
+                224,
+                3
+            ],
+            "info": {
+                "video.height": 224,
+                "video.width": 224,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.sawyer.joints": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "fps": 20
+        },
+        "observation.sawyer.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 20
+        },
+        "observation.sawyer.base_position": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "fps": 20
+        },
+        "observation.sawyer.base_orientation": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "fps": 20
+        },
+        "observation.sawyer.ee_error": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 20
+        },
+        "observation.images.sawyer": {
+            "dtype": "video",
+            "shape": [
+                224,
+                224,
+                3
+            ],
+            "info": {
+                "video.height": 224,
+                "video.width": 224,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.ur5e.joints": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 20
+        },
+        "observation.ur5e.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 20
+        },
+        "observation.ur5e.base_position": {
+            "dtype": "float32",
+            "shape": [
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+            "fps": 20
+        },
+        "observation.ur5e.base_orientation": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "fps": 20
+        },
+        "observation.ur5e.ee_error": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 20
+        },
+        "observation.images.ur5e": {
+            "dtype": "video",
+            "shape": [
+                224,
+                224,
+                3
+            ],
+            "info": {
+                "video.height": 224,
+                "video.width": 224,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.google_robot.joints": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "fps": 20
+        },
+        "observation.google_robot.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 20
+        },
+        "observation.google_robot.base_position": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "fps": 20
+        },
+        "observation.google_robot.base_orientation": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "fps": 20
+        },
+        "observation.google_robot.ee_error": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 20
+        },
+        "observation.images.google_robot": {
+            "dtype": "video",
+            "shape": [
+                224,
+                224,
+                3
+            ],
+            "info": {
+                "video.height": 224,
+                "video.width": 224,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.jaco.joints": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 20
+        },
+        "observation.jaco.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 20
+        },
+        "observation.jaco.base_position": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "fps": 20
+        },
+        "observation.jaco.base_orientation": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "fps": 20
+        },
+        "observation.jaco.ee_error": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 20
+        },
+        "observation.images.jaco": {
+            "dtype": "video",
+            "shape": [
+                224,
+                224,
+                3
+            ],
+            "info": {
+                "video.height": 224,
+                "video.width": 224,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.kinova3.joints": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "fps": 20
+        },
+        "observation.kinova3.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 20
+        },
+        "observation.kinova3.base_position": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "fps": 20
+        },
+        "observation.kinova3.base_orientation": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "fps": 20
+        },
+        "observation.kinova3.ee_error": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 20
+        },
+        "observation.images.kinova3": {
+            "dtype": "video",
+            "shape": [
+                224,
+                224,
+                3
+            ],
+            "info": {
+                "video.height": 224,
+                "video.width": 224,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.kuka_iiwa.joints": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "fps": 20
+        },
+        "observation.kuka_iiwa.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 20
+        },
+        "observation.kuka_iiwa.base_position": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "fps": 20
+        },
+        "observation.kuka_iiwa.base_orientation": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "fps": 20
+        },
+        "observation.kuka_iiwa.ee_error": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 20
+        },
+        "observation.images.kuka_iiwa": {
+            "dtype": "video",
+            "shape": [
+                224,
+                224,
+                3
+            ],
+            "info": {
+                "video.height": 224,
+                "video.width": 224,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.xarm7.joints": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "fps": 20
+        },
+        "observation.xarm7.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 20
+        },
+        "observation.xarm7.base_position": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "fps": 20
+        },
+        "observation.xarm7.base_orientation": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "fps": 20
+        },
+        "observation.xarm7.ee_error": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 20
+        },
+        "observation.images.xarm7": {
+            "dtype": "video",
+            "shape": [
+                224,
+                224,
+                3
+            ],
+            "info": {
+                "video.height": 224,
+                "video.width": 224,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.image": {
+            "dtype": "video",
+            "shape": [
+                224,
+                224,
+                3
+            ],
+            "info": {
+                "video.height": 224,
+                "video.width": 224,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "natural_language_instruction": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "fps": 20
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "fps": 20
+        },
+        "observation.joints": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "fps": 20
+        },
+        "observation.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 20
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 20
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 20
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 20
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 20
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 20
+        }
+    },
+    "data_files_size_in_mb": 500,
+    "video_files_size_in_mb": 500
+}

meta/stats.json

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