Datasetpublic

oxe-auge/berkeley_autolab_ur5_test_augmented

berkeley_autolab_ur5_test Overview Codebase version: v2.1 Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, widowX, xarm7 FPS: 5.0 Episodes: 104 Frames: 10,156 Videos: 936 Chunks: 1 Splits: train: 0:104 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… See the full description on the dataset page: https://huggingface.co/datasets/oxe-auge/berkeley_autolab_ur5_test_augmented.

sourceHugging Facecc-by-4.0updated 11mo agoView on Hugging Face

0likes544downloads

Dataset Card

berkeleyautolabur5_test

Overview

—Codebase version: v2.1
—Robots: googlerobot, images, jaco, kinova3, kukaiiwa, panda, sawyer, widowX, xarm7
—FPS: 5.0
—Episodes: 104
—Frames: 10,156
—Videos: 936
—Chunks: 1
—Splits:
—train: 0:104

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`	`480×640×3`	Augmented image for google_robot robot
`observation.images.image`	`video`	`480×640×3`	Source robot's image from original dataset
`observation.images.jaco`	`video`	`480×640×3`	Augmented image for jaco robot
`observation.images.kinova3`	`video`	`480×640×3`	Augmented image for kinova3 robot
`observation.images.kuka_iiwa`	`video`	`480×640×3`	Augmented image for kuka_iiwa robot
`observation.images.panda`	`video`	`480×640×3`	Augmented image for panda robot
`observation.images.sawyer`	`video`	`480×640×3`	Augmented image for sawyer robot
`observation.images.widowX`	`video`	`480×640×3`	Augmented image for widowX robot
`observation.images.xarm7`	`video`	`480×640×3`	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`	`7`	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`	`15`	Copy of the state field in source robot's RLDS dataset
`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://sites.google.com/view/berkeley-ur5/home

Citation Policy

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

Upstream Dataset Citation (original dataset)

bibtex

@misc{BerkeleyUR5Website,
    title = {Berkeley {UR5} Demonstration Dataset},
    author = {Lawrence Yunliang Chen and Simeon Adebola and Ken Goldberg},
    howpublished = {https://sites.google.com/view/berkeley-ur5/home},
}

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}
}