| --- |
| pretty_name: "austin_sailor_dataset_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: 240 |
| total_frames: 353094 |
| total_videos: null |
|
|
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: |
| - "data/chunk-*/file-*.parquet" |
| --- |
| # austin_sailor_dataset_augmented |
| |
| ## Overview |
| |
| - **Codebase version**: `v3.0` |
| - **Robots**: google_robot, images, jaco, kinova3, kuka_iiwa, sawyer, ur5e, widowX, xarm7 |
| - **FPS**: 20 |
| - **Episodes**: 240 |
| - **Frames**: 353,094 |
| - **Splits**: |
| - `train`: `0:240` |
| |
| ## 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` | `128×128×3` | Augmented image for google_robot robot | |
| | `observation.images.image` | `video` | `128×128×3` | Source robot's image from original dataset | |
| | `observation.images.jaco` | `video` | `128×128×3` | Augmented image for jaco robot | |
| | `observation.images.kinova3` | `video` | `128×128×3` | Augmented image for kinova3 robot | |
| | `observation.images.kuka_iiwa` | `video` | `128×128×3` | Augmented image for kuka_iiwa robot | |
| | `observation.images.sawyer` | `video` | `128×128×3` | Augmented image for sawyer robot | |
| | `observation.images.ur5e` | `video` | `128×128×3` | Augmented image for ur5e robot | |
| | `observation.images.widowX` | `video` | `128×128×3` | Augmented image for widowX robot | |
| | `observation.images.xarm7` | `video` | `128×128×3` | 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` | `8` | 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 |
| |
| - Not available. |
| |
| ## Citation Policy |
| |
| If you use **OXE-AugE** datasets, please cite **both** our dataset and the **upstream datasets**. |
| |
| ## Upstream Dataset Citation (original dataset) |
| |
| ```bibtex |
| @inproceedings{nasiriany2022sailor, |
| title={Learning and Retrieval from Prior Data for Skill-based Imitation Learning}, |
| author={Soroush Nasiriany and Tian Gao and Ajay Mandlekar and Yuke Zhu}, |
| booktitle={Conference on Robot Learning (CoRL)}, |
| year={2022} |
| } |
| ``` |
| |
| ## 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} |
| } |
| ``` |
|
|
