Datasets:

oxe-auge
/

language_table_train_135000_140000_augmented

@@ -1,135 +0,0 @@
----
-pretty_name: "language_table_train_135000_140000_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: 79556
-  total_videos: 40000
-configs:
-  - config_name: default
-    data_files:
-      - split: train
-        path:
-          - "data/chunk-*/episode_*.parquet"
----
-# language_table_train_135000_140000_augmented
-## Overview
-- **Codebase version**: `v2.1`
-- **Robots**: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e
-- **FPS**: 10
-- **Episodes**: 5,000
-- **Frames**: 79,556
-- **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}
-}
-```

README.md.bak DELETED Viewed

@@ -1,135 +0,0 @@
----
-pretty_name: "language_table_train_135000_140000"
-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: 79556
-  total_videos: 40000
-configs:
-  - config_name: default
-    data_files:
-      - split: train
-        path:
-          - "data/chunk-*/episode_*.parquet"
----
-# language_table_train_135000_140000
-## Overview
-- **Codebase version**: `v2.1`
-- **Robots**: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e
-- **FPS**: 10
-- **Episodes**: 5,000
-- **Frames**: 79,556
-- **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}
-}
-```

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