Datasets:

oxe-auge
/

iamlab_cmu_pickup_insert_train_500_631_augmented

pretty_name: iamlab_cmu_pickup_insert_converted_externally_to_rlds_train_500_631_augmented
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
    - sawyer
    - ur5e
    - widowX
    - xarm7
  fps: 20
  total_episodes: 131
  total_frames: 30143
  total_videos: 1179
configs:
  - config_name: default
    data_files:
      - split: train
        path:
          - data/chunk-*/episode_*.parquet

iamlab_cmu_pickup_insert_converted_externally_to_rlds_train_500_631_augmented

Overview

Codebase version: v2.1
Robots: google_robot, images, jaco, kinova3, kuka_iiwa, sawyer, ur5e, widowX, xarm7
FPS: 20.0
Episodes: 131
Frames: 30,143
Videos: 1,179
Chunks: 1
Splits:
- train: 0:131

Data Layout

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`	`360×640×3`	Augmented image for google_robot robot
`observation.images.image`	`video`	`360×640×3`	Source robot's image from original dataset
`observation.images.jaco`	`video`	`360×640×3`	Augmented image for jaco robot
`observation.images.kinova3`	`video`	`360×640×3`	Augmented image for kinova3 robot
`observation.images.kuka_iiwa`	`video`	`360×640×3`	Augmented image for kuka_iiwa robot
`observation.images.sawyer`	`video`	`360×640×3`	Augmented image for sawyer robot
`observation.images.ur5e`	`video`	`360×640×3`	Augmented image for ur5e robot
`observation.images.widowX`	`video`	`360×640×3`	Augmented image for widowX robot
`observation.images.xarm7`	`video`	`360×640×3`	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`	`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`	`20`	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`	-
`timestamp`	`float32`	`1`	-

Website

Website page: https://oxe-aug.github.io/
Project repository: https://github.com/GuanhuaJi/oxe-aug

Paper

https://openreview.net/forum?id=WuBv9-IGDUA

Citation Policy

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

Upstream Dataset Citation (original dataset)

@inproceedings{saxena2023multiresolution,
    title={Multi-Resolution Sensing for Real-Time Control with Vision-Language Models},
    author={Saumya Saxena and Mohit Sharma and Oliver Kroemer},
    booktitle={7th Annual Conference on Robot Learning},
    year={2023},
    url={https://openreview.net/forum?id=WuBv9-IGDUA}
}

OXE-Aug Dataset Citation (ours)

@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}
}