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README.md

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+---
+configs:
+- config_name: preview
+  data_files:
+  - split: train
+    path:
+    - "preview/train/*.mp4"
+    - "preview/train/metadata.jsonl"
+---
+
+# iamlab_cmu_pickup_insert_converted_externally_to_rlds robot-removal inpainting dataset
+
+This dataset contains robot-removal inpainting results for **iamlab_cmu_pickup_insert_converted_externally_to_rlds**. Each episode provides:
+- `inpainting.mp4`: the robot visually removed via inpainting
+- `mask.mp4`: the robot mask video used for inpainting
+- `original_episode.mp4`: the original (unmodified) episode video
+- `language_instructions_{split}_all.txt`: tab-separated mapping from `episode_id` to instruction
+
+## Relation to OXE-AugE
+
+This release is produced as part of **OXE-AugE** (AugE-Toolkit), a large-scale robot augmentation project.
+This inpainting dataset is an intermediate artifact from the overall augmentation pipeline, released independently because it is valuable for downstream research and reuse.
+
+## Folder structure
+
+```
+iamlab_cmu_pickup_insert_converted_externally_to_rlds/
+├── README.md
+├── archives/
+│   └── iamlab_cmu_pickup_insert_converted_externally_to_rlds_train.tar
+├── preview/
+│   └── train/
+│       ├── 000000_inpainting.mp4
+│       ├── 000000_mask.mp4
+│       ├── 000000_original.mp4
+│       ├── ...
+│       └── metadata.jsonl
+└── language_instructions_train_all.txt
+```
+
+## How to extract
+
+From the dataset repo root:
+
+```bash
+tar -xf archives/iamlab_cmu_pickup_insert_converted_externally_to_rlds_train.tar
+```
+
+Each tar extracts to:
+
+```
+iamlab_cmu_pickup_insert_converted_externally_to_rlds/
+└── {split}/
+    └── {episode_id}/
+        ├── inpainting.mp4
+        ├── mask.mp4
+        └── original_episode.mp4
+```
+
+## Instruction mapping
+
+For each processed split, `language_instructions_{split}_all.txt` contains lines:
+
+```
+<episode_id>\t<instruction>
+```
+
+(`\t` means a literal TAB character.)
+
+So episode `17` corresponds to the line starting with `17\t...`, and to folder:
+`iamlab_cmu_pickup_insert_converted_externally_to_rlds/{split}/17/`
+
+## Citation
+
+```bibtex
+@misc{
+  ji2025oxeauge,
+  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},
+  journal = {arXiv preprint arXiv:2512.13100},
+  year = {2025}
+}
+```

archives/iamlab_cmu_pickup_insert_converted_externally_to_rlds_train.tar

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