Datasetpublic

oxe-auge/fractal20220817_data_train_2500_5000_augmented

fractal20220817_data_train_2500_5000_augmented Overview Codebase version: v3.0 Robots: images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e, xarm7 FPS: 3 Episodes: 2,500 Frames: 106,995 Splits: train: 0:2500 Data Layout data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 Features Feature dtype shape description… See the full description on the dataset page: https://huggingface.co/datasets/oxe-auge/fractal20220817_data_train_2500_5000_augmented.

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Dataset Card

fractal20220817datatrain25005000_augmented

Overview

—Codebase version: v3.0
—Robots: images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e, xarm7
—FPS: 3
—Episodes: 2,500
—Frames: 106,995
—Splits:
—train: 0:2500

Data Layout

text

data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

Features

Feature	dtype	shape	description
`observation.images.image`	`video`	`256×320×3`	Source robot's image from original dataset
`observation.images.jaco`	`video`	`256×320×3`	Augmented image for jaco robot
`observation.images.kinova3`	`video`	`256×320×3`	Augmented image for kinova3 robot
`observation.images.kuka_iiwa`	`video`	`256×320×3`	Augmented image for kuka_iiwa robot
`observation.images.panda`	`video`	`256×320×3`	Augmented image for panda robot
`observation.images.sawyer`	`video`	`256×320×3`	Augmented image for sawyer robot
`observation.images.ur5e`	`video`	`256×320×3`	Augmented image for ur5e robot
`observation.images.xarm7`	`video`	`256×320×3`	Augmented image for xarm7 robot
`episode_index`	`int64`	`1`	Index of the current episode within the dataset.
`frame_index`	`int64`	`1`	Index of the current frame within its episode.
`index`	`int64`	`1`	Global frame index across the whole dataset.
`natural_language_instruction`	`string`	`1`	Natural language command describing the task
`observation.ee_pose`	`float32`	`7`	Source robot's eef position
`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`	`7`	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.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`	Integer ID of the high-level task this episode/frame belongs to.
`timestamp`	`float32`	`1`	Time stamp of the current frame within the episode (in second).

Website

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

Paper

—https://research.google/blog/rt-1-robotics-transformer-for-real-world-control-at-scale/

Citation Policy

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

Upstream Dataset Citation (original dataset)

bibtex

@misc{googleblog_rt1_2022,
  author       = {Keerthana Gopalakrishnan and Kanishka Rao},
  title        = {RT-1: Robotics Transformer for real-world control at scale},
  howpublished = {Google Research Blog},
  year         = {2022},
  month        = {December},
  url          = {https://research.google/blog/rt-1-robotics-transformer-for-real-world-control-at-scale/}
}

OXE-AugE Dataset Citation (ours)

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}
}