Datasetpublic

oxe-auge/language_table_train_115000_120000_augmented

language_table_train_115000_120000_augmented Overview Codebase version: v3.0 Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e FPS: 10 Episodes: 5,000 Frames: 79,828 Splits: train: 0:5000 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/language_table_train_115000_120000_augmented.

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Dataset Card

languagetabletrain115000120000_augmented

Overview

—Codebase version: v3.0
—Robots: googlerobot, images, jaco, kinova3, kukaiiwa, panda, sawyer, ur5e
—FPS: 10
—Episodes: 5,000
—Frames: 79,828
—Splits:
—train: 0:5000

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.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`	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`	`int32`	`512`	Natural language command describing the task
`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`	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://arxiv.org/abs/2210.06407

Citation Policy

If you use OXE-AugE 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-AugE Dataset Citation (ours)

bibtex

@misc{
  ji2025oxeaug,
  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},
  year   = {2025},
  note   = {Manuscript}
}