README.md

---
pretty_name: "berkeley_autolab_ur5_train_400_500"
license: "cc-by-4.0"
tags: [robotics, lerobot, oxe-aug, dataset]
task_categories: [robotics]

oxe_aug:
  codebase_version: "v2.1"
  robots: ["google_robot", "images", "jaco", "kinova3", "kuka_iiwa", "panda", "sawyer", "widowX", "xarm7"]
  fps: 5.0
  total_episodes: 100
  total_frames: 9479
  total_videos: 900

configs:
  - config_name: default
    data_files:
      - split: train
        path:
          - "data/chunk-*/episode_*.parquet"
---
# berkeley_autolab_ur5_train_400_500

## Overview

- **Codebase version**: `v2.1`
- **Robots**: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, widowX, xarm7
- **FPS**: 5.0
- **Episodes**: 100
- **Frames**: 9,479
- **Videos**: 900
- **Chunks**: 1
- **Splits**:
  - `train`: `0:100`

## Data Layout

```text
data_path : data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.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.panda` | `video` | `480×640×3` | Augmented image for panda robot |
| `observation.images.sawyer` | `video` | `480×640×3` | Augmented image for sawyer 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` | - |
| `frame_index` | `int64` | `1` | - |
| `index` | `int64` | `1` | - |
| `natural_language_instruction` | `string` | `1` | - |
| `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` | `7` | 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.panda.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
| `observation.panda.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
| `observation.panda.ee_error` | `float32` | `7` | The eef difference between the augmented panda robot and the original robot |
| `observation.panda.ee_pose` | `float32` | `7` | The eef position of panda robot |
| `observation.panda.joints` | `float32` | `8` | The joint position of panda 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` | `15` | Copy of the state field in source robot's RLDS dataset |
| `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` | - |
| `timestamp` | `float32` | `1` | - |

## Website

- Website page: [https://oxe-aug.github.io/](https://oxe-aug.github.io/)
- Project repository: [https://github.com/GuanhuaJi/oxe-aug](https://github.com/GuanhuaJi/oxe-aug)

## Paper

- [https://sites.google.com/view/berkeley-ur5/home](https://sites.google.com/view/berkeley-ur5/home)

## Citation Policy

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

## Upstream Dataset Citation (original dataset)

```bibtex
@misc{BerkeleyUR5Website,
    title = {Berkeley {UR5} Demonstration Dataset},
    author = {Lawrence Yunliang Chen and Simeon Adebola and Ken Goldberg},
    howpublished = {https://sites.google.com/view/berkeley-ur5/home},
}
```

## OXE-Aug Dataset Citation (ours)

```bibtex
@misc{
  ji2025oxeaug,
  title  = {OXE-Aug: 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}
}
```