Datasetpublic

oxe-auge/toto_train_600_700_augmented

toto_train_600_700_augmented Overview Codebase version: v3.0 Robots: google_robot, images, jaco, kinova3, kuka_iiwa, sawyer, ur5e, widowX, xarm7 FPS: 30 Episodes: 100 Frames: 34,494 Splits: train: 0:100 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/toto_train_600_700_augmented.

sourceHugging Facecc-by-4.0updated 10mo agoView on Hugging Face

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Dataset Card

tototrain600700augmented

Overview

—Codebase version: v3.0
—Robots: googlerobot, images, jaco, kinova3, kukaiiwa, sawyer, ur5e, widowX, xarm7
—FPS: 30
—Episodes: 100
—Frames: 34,494
—Splits:
—train: 0:100

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`	`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.sawyer`	`video`	`480×640×3`	Augmented image for sawyer robot
`observation.images.ur5e`	`video`	`480×640×3`	Augmented image for ur5e 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`	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.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.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.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`	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

—Not available.

Citation Policy

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

Upstream Dataset Citation (original dataset)

bibtex

@inproceedings{zhou2023train,
    author={Zhou, Gaoyue and Dean, Victoria and Srirama, Mohan Kumar and Rajeswaran, Aravind and Pari, Jyothish and Hatch, Kyle and Jain, Aryan and Yu, Tianhe and Abbeel, Pieter and Pinto, Lerrel and Finn, Chelsea and Gupta, Abhinav},
    booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
    title={Train Offline, Test Online: A Real Robot Learning Benchmark},
    year={2023},
}

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}
}