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fractal20220817_data_train_5000_7500_augmented

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  1. README.md +134 -0
  2. README.md.bak +134 -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 +1973 -0
  7. meta/tasks.parquet +3 -0
  8. videos/observation.images.image/chunk-000/file-000.mp4 +3 -0
  9. videos/observation.images.image/chunk-000/file-001.mp4 +3 -0
  10. videos/observation.images.jaco/chunk-000/file-000.mp4 +3 -0
  11. videos/observation.images.jaco/chunk-000/file-001.mp4 +3 -0
  12. videos/observation.images.kinova3/chunk-000/file-000.mp4 +3 -0
  13. videos/observation.images.kinova3/chunk-000/file-001.mp4 +3 -0
  14. videos/observation.images.kuka_iiwa/chunk-000/file-000.mp4 +3 -0
  15. videos/observation.images.kuka_iiwa/chunk-000/file-001.mp4 +3 -0
  16. videos/observation.images.panda/chunk-000/file-000.mp4 +3 -0
  17. videos/observation.images.panda/chunk-000/file-001.mp4 +3 -0
  18. videos/observation.images.sawyer/chunk-000/file-000.mp4 +3 -0
  19. videos/observation.images.sawyer/chunk-000/file-001.mp4 +3 -0
  20. videos/observation.images.ur5e/chunk-000/file-000.mp4 +3 -0
  21. videos/observation.images.ur5e/chunk-000/file-001.mp4 +3 -0
  22. videos/observation.images.xarm7/chunk-000/file-000.mp4 +3 -0
  23. videos/observation.images.xarm7/chunk-000/file-001.mp4 +3 -0
README.md ADDED
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1
+ ---
2
+ pretty_name: "fractal20220817_data_train_5000_7500_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: ["images", "jaco", "kinova3", "kuka_iiwa", "panda", "sawyer", "ur5e", "xarm7"]
10
+ fps: 3
11
+ total_episodes: 2500
12
+ total_frames: 108991
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
+ # fractal20220817_data_train_5000_7500_augmented
23
+
24
+ ## Overview
25
+
26
+ - **Codebase version**: `v3.0`
27
+ - **Robots**: images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e, xarm7
28
+ - **FPS**: 3
29
+ - **Episodes**: 2,500
30
+ - **Frames**: 108,991
31
+ - **Splits**:
32
+ - `train`: `0:2500`
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.image` | `video` | `256×320×3` | Source robot's image from original dataset |
46
+ | `observation.images.jaco` | `video` | `256×320×3` | Augmented image for jaco robot |
47
+ | `observation.images.kinova3` | `video` | `256×320×3` | Augmented image for kinova3 robot |
48
+ | `observation.images.kuka_iiwa` | `video` | `256×320×3` | Augmented image for kuka_iiwa robot |
49
+ | `observation.images.panda` | `video` | `256×320×3` | Augmented image for panda robot |
50
+ | `observation.images.sawyer` | `video` | `256×320×3` | Augmented image for sawyer robot |
51
+ | `observation.images.ur5e` | `video` | `256×320×3` | Augmented image for ur5e robot |
52
+ | `observation.images.xarm7` | `video` | `256×320×3` | Augmented image for xarm7 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` | `string` | `1` | Natural language command describing the task |
57
+ | `observation.ee_pose` | `float32` | `7` | Source robot's eef position |
58
+ | `observation.jaco.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
59
+ | `observation.jaco.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
60
+ | `observation.jaco.ee_error` | `float32` | `7` | The eef difference between the augmented jaco robot and the original robot |
61
+ | `observation.jaco.ee_pose` | `float32` | `7` | The eef position of jaco robot |
62
+ | `observation.jaco.joints` | `float32` | `7` | The joint position of jaco robot |
63
+ | `observation.joints` | `float32` | `8` | Joint angle of source robot |
64
+ | `observation.kinova3.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
65
+ | `observation.kinova3.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
66
+ | `observation.kinova3.ee_error` | `float32` | `7` | The eef difference between the augmented kinova3 robot and the original robot |
67
+ | `observation.kinova3.ee_pose` | `float32` | `7` | The eef position of kinova3 robot |
68
+ | `observation.kinova3.joints` | `float32` | `8` | The joint position of kinova3 robot |
69
+ | `observation.kuka_iiwa.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
70
+ | `observation.kuka_iiwa.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
71
+ | `observation.kuka_iiwa.ee_error` | `float32` | `7` | The eef difference between the augmented kuka_iiwa robot and the original robot |
72
+ | `observation.kuka_iiwa.ee_pose` | `float32` | `7` | The eef position of kuka_iiwa robot |
73
+ | `observation.kuka_iiwa.joints` | `float32` | `8` | The joint position of kuka_iiwa robot |
74
+ | `observation.panda.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
75
+ | `observation.panda.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
76
+ | `observation.panda.ee_error` | `float32` | `7` | The eef difference between the augmented panda robot and the original robot |
77
+ | `observation.panda.ee_pose` | `float32` | `7` | The eef position of panda robot |
78
+ | `observation.panda.joints` | `float32` | `8` | The joint position of panda robot |
79
+ | `observation.sawyer.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
80
+ | `observation.sawyer.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
81
+ | `observation.sawyer.ee_error` | `float32` | `7` | The eef difference between the augmented sawyer robot and the original robot |
82
+ | `observation.sawyer.ee_pose` | `float32` | `7` | The eef position of sawyer robot |
83
+ | `observation.sawyer.joints` | `float32` | `8` | The joint position of sawyer robot |
84
+ | `observation.state` | `float32` | `7` | Copy of the state field in source robot's RLDS dataset |
85
+ | `observation.ur5e.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
86
+ | `observation.ur5e.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
87
+ | `observation.ur5e.ee_error` | `float32` | `7` | The eef difference between the augmented ur5e robot and the original robot |
88
+ | `observation.ur5e.ee_pose` | `float32` | `7` | The eef position of ur5e robot |
89
+ | `observation.ur5e.joints` | `float32` | `7` | The joint position of ur5e robot |
90
+ | `observation.xarm7.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
91
+ | `observation.xarm7.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
92
+ | `observation.xarm7.ee_error` | `float32` | `7` | The eef difference between the augmented xarm7 robot and the original robot |
93
+ | `observation.xarm7.ee_pose` | `float32` | `7` | The eef position of xarm7 robot |
94
+ | `observation.xarm7.joints` | `float32` | `8` | The joint position of xarm7 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://research.google/blog/rt-1-robotics-transformer-for-real-world-control-at-scale/](https://research.google/blog/rt-1-robotics-transformer-for-real-world-control-at-scale/)
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
+ @misc{googleblog_rt1_2022,
115
+ author = {Keerthana Gopalakrishnan and Kanishka Rao},
116
+ title = {RT-1: Robotics Transformer for real-world control at scale},
117
+ howpublished = {Google Research Blog},
118
+ year = {2022},
119
+ month = {December},
120
+ url = {https://research.google/blog/rt-1-robotics-transformer-for-real-world-control-at-scale/}
121
+ }
122
+ ```
123
+
124
+ ## OXE-AugE Dataset Citation (ours)
125
+
126
+ ```bibtex
127
+ @misc{
128
+ ji2025oxeauge,
129
+ title = {OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning},
130
+ 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},
131
+ journal={arXiv preprint arXiv:2512.13100},
132
+ year={2025}
133
+ }
134
+ ```
README.md.bak ADDED
@@ -0,0 +1,134 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ pretty_name: "fractal20220817_data_train_5000_7500"
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: ["images", "jaco", "kinova3", "kuka_iiwa", "panda", "sawyer", "ur5e", "xarm7"]
10
+ fps: 3
11
+ total_episodes: 2500
12
+ total_frames: 108991
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
+ # fractal20220817_data_train_5000_7500
23
+
24
+ ## Overview
25
+
26
+ - **Codebase version**: `v3.0`
27
+ - **Robots**: images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e, xarm7
28
+ - **FPS**: 3
29
+ - **Episodes**: 2,500
30
+ - **Frames**: 108,991
31
+ - **Splits**:
32
+ - `train`: `0:2500`
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.image` | `video` | `256×320×3` | Source robot's image from original dataset |
46
+ | `observation.images.jaco` | `video` | `256×320×3` | Augmented image for jaco robot |
47
+ | `observation.images.kinova3` | `video` | `256×320×3` | Augmented image for kinova3 robot |
48
+ | `observation.images.kuka_iiwa` | `video` | `256×320×3` | Augmented image for kuka_iiwa robot |
49
+ | `observation.images.panda` | `video` | `256×320×3` | Augmented image for panda robot |
50
+ | `observation.images.sawyer` | `video` | `256×320×3` | Augmented image for sawyer robot |
51
+ | `observation.images.ur5e` | `video` | `256×320×3` | Augmented image for ur5e robot |
52
+ | `observation.images.xarm7` | `video` | `256×320×3` | Augmented image for xarm7 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` | `string` | `1` | Natural language command describing the task |
57
+ | `observation.ee_pose` | `float32` | `7` | Source robot's eef position |
58
+ | `observation.jaco.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
59
+ | `observation.jaco.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
60
+ | `observation.jaco.ee_error` | `float32` | `7` | The eef difference between the augmented jaco robot and the original robot |
61
+ | `observation.jaco.ee_pose` | `float32` | `7` | The eef position of jaco robot |
62
+ | `observation.jaco.joints` | `float32` | `7` | The joint position of jaco robot |
63
+ | `observation.joints` | `float32` | `8` | Joint angle of source robot |
64
+ | `observation.kinova3.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
65
+ | `observation.kinova3.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
66
+ | `observation.kinova3.ee_error` | `float32` | `7` | The eef difference between the augmented kinova3 robot and the original robot |
67
+ | `observation.kinova3.ee_pose` | `float32` | `7` | The eef position of kinova3 robot |
68
+ | `observation.kinova3.joints` | `float32` | `8` | The joint position of kinova3 robot |
69
+ | `observation.kuka_iiwa.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
70
+ | `observation.kuka_iiwa.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
71
+ | `observation.kuka_iiwa.ee_error` | `float32` | `7` | The eef difference between the augmented kuka_iiwa robot and the original robot |
72
+ | `observation.kuka_iiwa.ee_pose` | `float32` | `7` | The eef position of kuka_iiwa robot |
73
+ | `observation.kuka_iiwa.joints` | `float32` | `8` | The joint position of kuka_iiwa robot |
74
+ | `observation.panda.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
75
+ | `observation.panda.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
76
+ | `observation.panda.ee_error` | `float32` | `7` | The eef difference between the augmented panda robot and the original robot |
77
+ | `observation.panda.ee_pose` | `float32` | `7` | The eef position of panda robot |
78
+ | `observation.panda.joints` | `float32` | `8` | The joint position of panda robot |
79
+ | `observation.sawyer.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
80
+ | `observation.sawyer.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
81
+ | `observation.sawyer.ee_error` | `float32` | `7` | The eef difference between the augmented sawyer robot and the original robot |
82
+ | `observation.sawyer.ee_pose` | `float32` | `7` | The eef position of sawyer robot |
83
+ | `observation.sawyer.joints` | `float32` | `8` | The joint position of sawyer robot |
84
+ | `observation.state` | `float32` | `7` | Copy of the state field in source robot's RLDS dataset |
85
+ | `observation.ur5e.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
86
+ | `observation.ur5e.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
87
+ | `observation.ur5e.ee_error` | `float32` | `7` | The eef difference between the augmented ur5e robot and the original robot |
88
+ | `observation.ur5e.ee_pose` | `float32` | `7` | The eef position of ur5e robot |
89
+ | `observation.ur5e.joints` | `float32` | `7` | The joint position of ur5e robot |
90
+ | `observation.xarm7.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
91
+ | `observation.xarm7.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
92
+ | `observation.xarm7.ee_error` | `float32` | `7` | The eef difference between the augmented xarm7 robot and the original robot |
93
+ | `observation.xarm7.ee_pose` | `float32` | `7` | The eef position of xarm7 robot |
94
+ | `observation.xarm7.joints` | `float32` | `8` | The joint position of xarm7 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://research.google/blog/rt-1-robotics-transformer-for-real-world-control-at-scale/](https://research.google/blog/rt-1-robotics-transformer-for-real-world-control-at-scale/)
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
+ @misc{googleblog_rt1_2022,
115
+ author = {Keerthana Gopalakrishnan and Kanishka Rao},
116
+ title = {RT-1: Robotics Transformer for real-world control at scale},
117
+ howpublished = {Google Research Blog},
118
+ year = {2022},
119
+ month = {December},
120
+ url = {https://research.google/blog/rt-1-robotics-transformer-for-real-world-control-at-scale/}
121
+ }
122
+ ```
123
+
124
+ ## OXE-AugE Dataset Citation (ours)
125
+
126
+ ```bibtex
127
+ @misc{
128
+ ji2025oxeauge,
129
+ title = {OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning},
130
+ 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},
131
+ journal={arXiv preprint arXiv:2512.13100},
132
+ year={2025}
133
+ }
134
+ ```
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