diff --git a/.gitattributes b/.gitattributes
index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..f63fca07543b886e1db4e52982eea7d7dd181a86 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -57,3 +57,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+meta/episodes_stats.jsonl filter=lfs diff=lfs merge=lfs -text
diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..0a4bfcaf89766c710e7bfb53863749c7d4df7bb4
--- /dev/null
+++ b/README.md
@@ -0,0 +1,135 @@
+---
+pretty_name: "language_table_train_130000_135000_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", "panda", "sawyer", "ur5e"]
+  fps: 10
+  total_episodes: 5000
+  total_frames: 79357
+  total_videos: 40000
+
+configs:
+  - config_name: default
+    data_files:
+      - split: train
+        path:
+          - "data/chunk-*/episode_*.parquet"
+---
+# language_table_train_130000_135000_augmented
+
+## Overview
+
+- **Codebase version**: `v2.1`
+- **Robots**: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e
+- **FPS**: 10
+- **Episodes**: 5,000
+- **Frames**: 79,357
+- **Videos**: 40,000
+- **Chunks**: 5
+- **Splits**:
+  - `train`: `0:5000`
+
+## 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` | `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.panda` | `video` | `360×640×3` | Augmented image for panda 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 |
+| `episode_index` | `int64` | `1` | - |
+| `frame_index` | `int64` | `1` | - |
+| `index` | `int64` | `1` | - |
+| `natural_language_instruction` | `int32` | `512` | - |
+| `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.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` | `2` | 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 |
+| `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://arxiv.org/abs/2210.06407](https://arxiv.org/abs/2210.06407)
+
+## Citation Policy
+
+If you use **OXE-Aug** datasets, please cite **both** our dataset and the **upstream datasets**.
+
+## Upstream Dataset Citation (original dataset)
+
+```bibtex
+@article{lynch2022interactive,
+  title   = {Interactive Language: Talking to Robots in Real Time},
+  author  = {Corey Lynch and Ayzaan Wahid and Jonathan Tompson and Tianli Ding and James Betker and Robert Baruch and Travis Armstrong and Pete Florence},
+  journal = {arXiv preprint arXiv:2210.06407},
+  year    = {2022},
+  url     = {https://arxiv.org/abs/2210.06407}
+}
+```
+
+## 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}
+}
+```
diff --git a/README.md.bak b/README.md.bak
new file mode 100644
index 0000000000000000000000000000000000000000..be57312f37ab9b61d4330d696ebf77b3c7eff4db
--- /dev/null
+++ b/README.md.bak
@@ -0,0 +1,135 @@
+---
+pretty_name: "language_table_train_130000_135000"
+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", "ur5e"]
+  fps: 10
+  total_episodes: 5000
+  total_frames: 79357
+  total_videos: 40000
+
+configs:
+  - config_name: default
+    data_files:
+      - split: train
+        path:
+          - "data/chunk-*/episode_*.parquet"
+---
+# language_table_train_130000_135000
+
+## Overview
+
+- **Codebase version**: `v2.1`
+- **Robots**: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e
+- **FPS**: 10
+- **Episodes**: 5,000
+- **Frames**: 79,357
+- **Videos**: 40,000
+- **Chunks**: 5
+- **Splits**:
+  - `train`: `0:5000`
+
+## 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` | `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.panda` | `video` | `360×640×3` | Augmented image for panda 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 |
+| `episode_index` | `int64` | `1` | - |
+| `frame_index` | `int64` | `1` | - |
+| `index` | `int64` | `1` | - |
+| `natural_language_instruction` | `int32` | `512` | - |
+| `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.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` | `2` | 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 |
+| `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://arxiv.org/abs/2210.06407](https://arxiv.org/abs/2210.06407)
+
+## Citation Policy
+
+If you use **OXE-Aug** datasets, please cite **both** our dataset and the **upstream datasets**.
+
+## Upstream Dataset Citation (original dataset)
+
+```bibtex
+@article{lynch2022interactive,
+  title   = {Interactive Language: Talking to Robots in Real Time},
+  author  = {Corey Lynch and Ayzaan Wahid and Jonathan Tompson and Tianli Ding and James Betker and Robert Baruch and Travis Armstrong and Pete Florence},
+  journal = {arXiv preprint arXiv:2210.06407},
+  year    = {2022},
+  url     = {https://arxiv.org/abs/2210.06407}
+}
+```
+
+## 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}
+}
+```
diff --git a/meta/episodes.jsonl b/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b4e0c12acbf325e4b943c129e162ef7b4089d72f
--- /dev/null
+++ b/meta/episodes.jsonl
@@ -0,0 +1,5000 @@
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diff --git a/meta/tasks.jsonl b/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8543b6907b46612be3ec67d0b370e9f997fcf5e3
--- /dev/null
+++ b/meta/tasks.jsonl
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