README.md

metadata

pretty_name: toto_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: 30
  total_episodes: 101
  total_frames: 31560
  total_videos: null
configs:
  - config_name: default
    data_files:
      - split: train
        path:
          - data/chunk-*/file-*.parquet

toto_test_augmented

Overview

• Codebase version: v3.0
• Robots: google_robot, images, jaco, kinova3, kuka_iiwa, sawyer, ur5e, widowX, xarm7
• FPS: 30
• Episodes: 101
• Frames: 31,560
• Splits:
  • train: 0:101

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	480×640×3	Augmented image for google_robot robot
observation.images.image	video	480×640×3	Source robot's image from original dataset
observation.images.jaco	video	480×640×3	Augmented image for jaco robot
observation.images.kinova3	video	480×640×3	Augmented image for kinova3 robot
observation.images.kuka_iiwa	video	480×640×3	Augmented image for kuka_iiwa robot
observation.images.sawyer	video	480×640×3	Augmented image for sawyer robot
observation.images.ur5e	video	480×640×3	Augmented image for ur5e robot
observation.images.widowX	video	480×640×3	Augmented image for widowX robot
observation.images.xarm7	video	480×640×3	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	7	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/
• Project repository: https://github.com/GuanhuaJi/oxe-auge

Paper

• Not available.

Citation Policy

If you use OXE-AugE datasets, please cite both our dataset and the upstream datasets.

Upstream Dataset Citation (original dataset)

@inproceedings{zhou2023train,
    author={Zhou, Gaoyue and Dean, Victoria and Srirama, Mohan Kumar and Rajeswaran, Aravind and Pari, Jyothish and Hatch, Kyle and Jain, Aryan and Yu, Tianhe and Abbeel, Pieter and Pinto, Lerrel and Finn, Chelsea and Gupta, Abhinav},
    booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
    title={Train Offline, Test Online: A Real Robot Learning Benchmark},
    year={2023},
}

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}
}