Berkeley Autolab Ur5 Augmented
Collection
10 items
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Updated
Dataset Viewer
observation.kuka_iiwa.joints
listlengths 8
8
| observation.kuka_iiwa.ee_pose
listlengths 7
7
| observation.kuka_iiwa.base_position
listlengths 3
3
| observation.kuka_iiwa.base_orientation
float32 0
0
| observation.kuka_iiwa.ee_error
listlengths 7
7
| observation.xarm7.joints
listlengths 8
8
| observation.xarm7.ee_pose
listlengths 7
7
| observation.xarm7.base_position
listlengths 3
3
| observation.xarm7.base_orientation
float32 0
0
| observation.xarm7.ee_error
listlengths 7
7
| observation.sawyer.joints
listlengths 8
8
| observation.sawyer.ee_pose
listlengths 7
7
| observation.sawyer.base_position
listlengths 3
3
| observation.sawyer.base_orientation
float32 0
0
| observation.sawyer.ee_error
listlengths 7
7
| observation.panda.joints
listlengths 8
8
| observation.panda.ee_pose
listlengths 7
7
| observation.panda.base_position
listlengths 3
3
| observation.panda.base_orientation
float32 0
0
| observation.panda.ee_error
listlengths 7
7
| observation.kinova3.joints
listlengths 8
8
| observation.kinova3.ee_pose
listlengths 7
7
| observation.kinova3.base_position
listlengths 3
3
| observation.kinova3.base_orientation
float32 0
0
| observation.kinova3.ee_error
listlengths 7
7
| observation.jaco.joints
listlengths 7
7
| observation.jaco.ee_pose
listlengths 7
7
| observation.jaco.base_position
listlengths 3
3
| observation.jaco.base_orientation
float32 0
0
| observation.jaco.ee_error
listlengths 7
7
| observation.google_robot.joints
listlengths 8
8
| observation.google_robot.ee_pose
listlengths 7
7
| observation.google_robot.base_position
listlengths 3
3
| observation.google_robot.base_orientation
float32 0
0
| observation.google_robot.ee_error
listlengths 7
7
| observation.widowX.joints
listlengths 7
7
| observation.widowX.ee_pose
listlengths 7
7
| observation.widowX.base_position
listlengths 3
3
| observation.widowX.base_orientation
float32 0
0
| observation.widowX.ee_error
listlengths 7
7
| natural_language_instruction
stringclasses 4
values | observation.state
listlengths 15
15
| observation.joints
listlengths 7
7
| observation.ee_pose
listlengths 7
7
| timestamp
float64 0
25.6
| frame_index
int64 0
128
| episode_index
int64 0
99
| index
int64 0
9.86k
| task_index
int64 0
3
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sweep the green cloth to the left side of the table
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0.8337241411209106,
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0
] |
[
0.3384842574596405,
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[
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] | 0
|
[
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[
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] |
[
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[
0,
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] | 0
|
[
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[
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[
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[
0,
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] | 0
|
[
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[
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] |
[
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[
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0
] | 0
|
[
1.6391277313232422e-7,
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0.0000164080411195755,
0.000016242265701293945,
0.0000011920928955078125,
-0.00004139088559895754
] |
sweep the green cloth to the left side of the table
|
[
-3.3029208183288574,
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2.4043545722961426,
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0
] |
[
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0
] |
[
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] | 0.4
| 2
| 0
| 2
| 0
|
[
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] |
[
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[
-0.10000000149011612,
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] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-8.046627044677734e-7,
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7.390044629573822e-7
] |
[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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] |
[
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0
] |
[
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[
-0.05000000074505806,
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0
] | 0
|
[
-0.000007987022399902344,
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] |
[
-0.012718094512820244,
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0
] |
[
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] |
[
0,
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0
] | 0
|
[
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] |
[
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0.7673722505569458,
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0
] |
[
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-0.08821618556976318,
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] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.000004976987838745117,
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0.000052189454436302185,
-0.00009144842624664307,
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0.00011670420644804835
] |
[
0.3493916094303131,
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0
] |
[
0.1970975399017334,
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0.022167745977640152,
-0.08832219243049622,
0.9958449006080627,
0.0008267094963230193
] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
5.960464477539062e-7,
0.000003546476364135742,
-0.0000027604401111602783,
0.00001397542655467987,
0.00001455843448638916,
0.0000010132789611816406,
-0.00003741052933037281
] |
sweep the green cloth to the left side of the table
|
[
-3.3141989707946777,
-1.562308669090271,
2.3912301063537598,
-2.442176580429077,
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0,
0
] |
[
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0
] |
[
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-0.08830763399600983,
0.9958459138870239,
0.0007892989669926465,
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] | 0.6
| 3
| 0
| 3
| 0
|
[
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0
] |
[
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[
-0.10000000149011612,
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] | 0
|
[
-0.0030304789543151855,
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-0.00033914297819137573,
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] |
[
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0
] |
[
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-0.08236932754516602,
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] |
[
0,
0,
0
] | 0
|
[
-7.152557373046875e-7,
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-0.0000033527612686157227,
0.00005785934627056122,
6.183981895446777e-7,
-0.0000011920928955078125,
5.981419235467911e-7
] |
[
-0.3303430676460266,
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0
] |
[
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-0.08236772567033768,
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] |
[
0,
0,
0
] | 0
|
[
-0.00000432133674621582,
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-0.0000024437904357910156,
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] |
[
0.1433132141828537,
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-2.690725564956665,
-0.02776401676237583,
3.02191424369812,
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0
] |
[
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-0.08237091451883316,
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] |
[
0,
0,
0
] | 0
|
[
8.344650268554688e-7,
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-0.0000101707992143929
] |
[
-1.1703741550445557,
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0
] |
[
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-0.08249504119157791,
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] |
[
-0.05000000074505806,
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0
] | 0
|
[
-0.000007539987564086914,
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-0.00019592896569520235
] |
[
0.003431823803111911,
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0
] |
[
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-0.08235486596822739,
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] |
[
0,
0,
0
] | 0
|
[
0.0000017285346984863281,
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-1.2665987014770508e-7,
-0.00003746338188648224,
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-2.980232238769531e-7,
-0.000013757089618593454
] |
[
-3.053481101989746,
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-1.9133248329162598,
-1.7609411478042603,
0.7633444666862488,
-1.7584075927734375,
0
] |
[
0.4046665132045746,
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-0.08227788656949997,
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] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.000004798173904418945,
-0.000005662441253662109,
0.0000025480985641479492,
0.000048644840717315674,
-0.00009082257747650146,
-0.00000864267349243164,
0.00011475745122879744
] |
[
0.30844661593437195,
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0.8313706517219543,
-0.010877114720642567,
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0
] |
[
0.2046607881784439,
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0.022157995030283928,
-0.08238168805837631,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
9.238719940185547e-7,
0.0000031441450119018555,
-0.000002995133399963379,
0.000012451782822608948,
0.000012978911399841309,
8.344650268554688e-7,
-0.00003362534334883094
] |
sweep the green cloth to the left side of the table
|
[
-3.3272011280059814,
-1.5332473516464233,
2.3811233043670654,
-2.460939645767212,
-1.5572494268417358,
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0.6452304124832153,
0.763671875,
0.015682466328144073,
0.015398028306663036,
0,
0
] |
[
-3.3272011280059814,
-1.5332473516464233,
2.3811233043670654,
-2.460939645767212,
-1.5572494268417358,
2.7913055419921875,
0
] |
[
0.40466171503067017,
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0.044424112886190414,
-0.08236870914697647,
0.996354877948761,
0.0009355777874588966,
0.022170446813106537
] | 0.8
| 4
| 0
| 4
| 0
|
[
0.9186850786209106,
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-0.3600277304649353,
-2.094399929046631,
1.108161449432373,
0.3120953440666199,
2.5985403060913086,
0
] |
[
0.3149103820323944,
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-0.07701003551483154,
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-0.01652146875858307
] |
[
-0.10000000149011612,
0.15000000596046448,
-0.05000000074505806
] | 0
|
[
-0.002526700496673584,
-0.0017011463642120361,
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0.030763335525989532,
-0.00021820515394210815,
-0.00008726119995117188,
0.017577169463038445
] |
[
0.0699036493897438,
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0.44851359724998474,
-0.0012648155679926276,
0
] |
[
0.4123843312263489,
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-0.07722832262516022,
0.9967696666717529,
0.0010547605343163013
] |
[
0,
0,
0
] | 0
|
[
-6.556510925292969e-7,
8.195638656616211e-8,
-0.000003430992364883423,
0.00005832500755786896,
8.195638656616211e-8,
-0.0000013113021850585938,
9.399373084306717e-7
] |
[
-0.3434208929538727,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
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0
] | 0
|
[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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0.000011593103408813477,
0.000011064112186431885,
5.960464477539062e-7,
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] |
sweep the green cloth to the left side of the table
|
[
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0
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[
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] |
[
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] | 1
| 5
| 0
| 5
| 0
|
[
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[
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[
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|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-6.258487701416016e-7,
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[
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[
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[
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0
] | 0
|
[
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[
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] |
[
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[
0,
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0
] | 0
|
[
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[
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0
] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
0,
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] | 0
|
[
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[
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0
] |
[
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[
0,
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] | 0
|
[
-0.0000044405460357666016,
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[
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0
] |
[
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[
-0.20000000298023224,
0,
0
] | 0
|
[
0.0000014454126358032227,
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0.00001173466444015503,
0.000009447336196899414,
4.172325134277344e-7,
-0.000025456072762608528
] |
sweep the green cloth to the left side of the table
|
[
-3.3573966026306152,
-1.4627741575241089,
2.364022970199585,
-2.51379656791687,
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0
] |
[
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0
] |
[
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] | 1.2
| 6
| 0
| 6
| 0
|
[
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] |
[
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[
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] | 0
|
[
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] |
[
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] |
[
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[
0,
0,
0
] | 0
|
[
-5.662441253662109e-7,
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-8.344650268554688e-7,
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] |
[
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0
] |
[
0.4280391335487366,
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-0.06732090562582016,
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] |
[
0,
0,
0
] | 0
|
[
-0.0000041425228118896484,
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1.7136335372924805e-7,
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] |
[
0.08729677647352219,
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3.0470845699310303,
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0
] |
[
0.4280340075492859,
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-0.067320816218853,
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] |
[
0,
0,
0
] | 0
|
[
9.834766387939453e-7,
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0.000049365684390068054,
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4.5320484787225723e-7
] |
[
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0
] |
[
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] |
[
-0.05000000074505806,
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0
] | 0
|
[
-0.0000059604644775390625,
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0.00009892880916595459,
0.0001242309808731079,
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] |
[
0.05546247959136963,
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0
] |
[
0.42803284525871277,
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] |
[
0,
0,
0
] | 0
|
[
0.0000021457672119140625,
-1.8998980522155762e-7,
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-0.00004309043288230896,
-0.000015407800674438477,
-5.960464477539063e-8,
-0.000008247559890151024
] |
[
-3.119727373123169,
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-1.8197230100631714,
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0
] |
[
0.42803919315338135,
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-0.06723187863826752,
0.997495174407959,
0.0008988520712591708
] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.000004202127456665039,
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0.00003672949969768524,
-0.00008885562419891357,
-0.000006854534149169922,
0.00010911567369475961
] |
[
0.18420472741127014,
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0.7966557741165161,
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0
] |
[
0.22803336381912231,
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0.021988334134221077,
-0.06732857972383499,
0.9974880218505859,
0.0010296688415110111
] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.0000016391277313232422,
0.0000018365681171417236,
-0.000004000961780548096,
0.000011902302503585815,
0.000007845461368560791,
2.980232238769531e-7,
-0.000021701096557080746
] |
sweep the green cloth to the left side of the table
|
[
-3.3698246479034424,
-1.425078272819519,
2.3521203994750977,
-2.539349317550659,
-1.5560520887374878,
2.778890609741211,
0.41707363724708557,
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-0.05207061022520065,
0.6565796136856079,
0.7539409399032593,
0.015707384794950485,
0.015150604769587517,
0,
0
] |
[
-3.3698246479034424,
-1.425078272819519,
2.3521203994750977,
-2.539349317550659,
-1.5560520887374878,
2.778890609741211,
0
] |
[
0.4280349910259247,
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0.020551437512040138,
-0.06732073426246643,
0.9974883198738098,
0.0010079677449539304,
0.022000236436724663
] | 1.4
| 7
| 0
| 7
| 0
|
[
0.6411842107772827,
0.9938226938247681,
-0.13794533908367157,
-2.094399929046631,
1.3896169662475586,
0.09539620578289032,
2.194690704345703,
0
] |
[
0.33678296208381653,
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[
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|
[
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[
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[
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[
0,
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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0
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[
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[
0,
0,
0
] | 0
|
[
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[
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0
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[
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[
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] | 0
|
[
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[
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0
] |
[
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[
0,
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0
] | 0
|
[
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[
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] |
[
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[
0,
0,
0.15000000596046448
] | 0
|
[
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[
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0
] |
[
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[
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0
] | 0
|
[
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0.000013111159205436707,
0.000006310641765594482,
5.960464477539063e-8,
-0.00001817988231778145
] |
sweep the green cloth to the left side of the table
|
[
-3.3830068111419678,
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0,
0
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[
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] |
[
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] | 1.6
| 8
| 0
| 8
| 0
|
[
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[
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[
-0.10000000149011612,
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|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-4.76837158203125e-7,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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0.00010102242231369019,
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] |
[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
-0.05000000074505806,
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0
] | 0
|
[
-0.0000050067901611328125,
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-0.00020354369189590216
] |
[
0.08794636279344559,
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4.984458923339844,
0.037676338106393814,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
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1.7881393432617188e-7,
4.7963112592697144e-8
] |
[
-3.150278091430664,
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-1.74676513671875,
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-1.6972864866256714,
0
] |
[
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-0.06104806438088417,
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] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.000003844499588012695,
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0.00002997182309627533,
-0.00008837506175041199,
-0.000006318092346191406,
0.00010609626770019531
] |
[
0.1112562045454979,
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0.6481691598892212,
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0
] |
[
0.24543918669223785,
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0.027690570801496506,
-0.06114107370376587,
0.9977445006370544,
0.000985577586106956
] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.0000018328428268432617,
0.0000010672956705093384,
-0.00000468292273581028,
0.000014591962099075317,
0.000004634261131286621,
-1.1920928955078125e-7,
-0.000014285789802670479
] |
sweep the green cloth to the left side of the table
|
[
-3.396764039993286,
-1.347896933555603,
2.3317155838012695,
-2.6066839694976807,
-1.5517171621322632,
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0.43390458822250366,
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-0.069769486784935,
0.6610677242279053,
0.7498205304145813,
0.01980009116232395,
0.01914801262319088,
0,
0
] |
[
-3.396764039993286,
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2.3317155838012695,
-2.6066839694976807,
-1.5517171621322632,
2.764521837234497,
0
] |
[
0.44544100761413574,
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0.002894001780077815,
-0.06113643944263458,
0.9977443814277649,
0.0009712917963042855,
0.02770516276359558
] | 1.8
| 9
| 0
| 9
| 0
|
[
0.22883480787277222,
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0.2457520067691803,
-2.0571208000183105,
1.4819964170455933,
-0.2290492057800293,
1.8803067207336426,
0
] |
[
0.3551757037639618,
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0.029172789305448532,
-0.05980401858687401,
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0.0011144658783450723
] |
[
-0.10000000149011612,
0.15000000596046448,
-0.05000000074505806
] | 0
|
[
-0.0000058710575103759766,
0.000004172325134277344,
-0.0000028796494007110596,
0.00013111531734466553,
0.00009799003601074219,
0.0000021457672119140625,
-0.00007569894660264254
] |
[
0.0073026325553655624,
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0.7899894118309021,
-0.022751519456505775,
0.35646483302116394,
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0
] |
[
0.45517024397850037,
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-0.005968306213617325,
0.029241619631648064,
-0.059702929109334946,
0.9977872371673584,
0.0010336010018363595
] |
[
0,
0,
0
] | 0
|
[
-3.8743019104003906e-7,
-1.4528632164001465e-7,
-0.000003853347152471542,
0.00006228499114513397,
-0.0000030994415283203125,
-0.0000019669532775878906,
0.000005165929906070232
] |
[
-0.3975909650325775,
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0.11108427494764328,
2.1752893924713135,
-0.3064366579055786,
0.17401134967803955,
0.03752262517809868,
0
] |
[
0.4551738202571869,
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-0.005971143487840891,
0.029203398153185844,
-0.05970623716711998,
0.9977882504463196,
0.000972155830822885
] |
[
0,
0,
0
] | 0
|
[
-0.0000039637088775634766,
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-0.000001016072928905487,
0.00010050646960735321,
2.086162567138672e-7,
-0.0000029802322387695312,
0.0000666111009195447
] |
[
0.026240134611725807,
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-2.504990577697754,
-0.022718168795108795,
3.0803592205047607,
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0
] |
[
0.4551686644554138,
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0.02925252541899681,
-0.0597040168941021,
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0.0010305374162271619
] |
[
0,
0,
0
] | 0
|
[
0.0000011920928955078125,
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0.00005137920379638672,
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] |
[
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0
] |
[
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0.9977797865867615,
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] |
[
-0.05000000074505806,
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0
] | 0
|
[
-0.0000045299530029296875,
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] |
[
0.10453463345766068,
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0
] |
[
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] |
[
0,
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] | 0
|
[
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2.980232238769531e-7,
0.000003845663741230965
] |
[
-3.170551300048828,
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] |
[
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] |
[
0,
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0.15000000596046448
] | 0
|
[
-0.000003546476364135742,
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0.000025169923901557922,
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0.00010427896631881595
] |
[
0.07455695420503616,
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0
] |
[
0.2551679015159607,
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0.9977855086326599,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.0000019371509552001953,
6.724148988723755e-7,
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0.000015404075384140015,
0.0000027045607566833496,
-2.384185791015625e-7,
-0.00000976386945694685
] |
sweep the green cloth to the left side of the table
|
[
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2.314807891845703,
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0
] |
[
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0
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[
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0.9977852702140808,
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] | 2
| 10
| 0
| 10
| 0
|
[
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] |
[
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[
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
-2.682209014892578e-7,
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0.00006171688437461853,
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[
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[
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[
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0
] | 0
|
[
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[
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[
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[
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0
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|
[
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[
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0
] |
[
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[
-0.05000000074505806,
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] | 0
|
[
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[
0.12195032089948654,
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0
] |
[
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[
0,
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] | 0
|
[
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3.5762786865234375e-7,
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] |
[
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0
] |
[
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[
0,
0,
0.15000000596046448
] | 0
|
[
-0.0000033080577850341797,
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0.000020213425159454346,
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[
0.037411026656627655,
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0
] |
[
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0.9977553486824036,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.0000020563602447509766,
2.7567148208618164e-7,
-0.000005071982741355896,
0.000015476718544960022,
5.736947059631348e-7,
-4.76837158203125e-7,
-0.0000047137727960944176
] |
sweep the green cloth to the left side of the table
|
[
-3.4241116046905518,
-1.2713831663131714,
2.294727087020874,
-2.6514275074005127,
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0
] |
[
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0
] |
[
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0.9977548718452454,
0.001010466949082911,
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] | 2.2
| 11
| 0
| 11
| 0
|
[
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0
] |
[
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[
-0.10000000149011612,
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] | 0
|
[
-0.000004887580871582031,
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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-1.1920928955078125e-7,
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0.000060420483350753784,
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[
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0
] |
[
0.4749983251094818,
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0.031310196965932846,
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0.9977415800094604,
0.0012626706156879663
] |
[
0,
0,
0
] | 0
|
[
-0.000003814697265625,
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[
-0.02375185303390026,
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0
] |
[
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[
0,
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0
] | 0
|
[
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[
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0
] |
[
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[
-0.05000000074505806,
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0
] | 0
|
[
-0.0000037550926208496094,
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] |
[
0.14082969725131989,
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] |
[
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[
0,
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0
] | 0
|
[
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-0.000055287033319473267,
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4.76837158203125e-7,
0.000011223135516047478
] |
[
-3.216998815536499,
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0
] |
[
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] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.000003039836883544922,
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0.000014629215002059937,
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] |
[
-0.001033512526191771,
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0
] |
[
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.000002205371856689453,
-1.266016624867916e-7,
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0.000015012919902801514,
-0.000001735985279083252,
-5.960464477539062e-7,
8.847564458847046e-7
] |
sweep the green cloth to the left side of the table
|
[
-3.4396536350250244,
-1.238298773765564,
2.2719407081604004,
-2.6623799800872803,
-1.5463403463363647,
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0.6621899604797363,
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0.022752312943339348,
0.02144971303641796,
0,
0
] |
[
-3.4396536350250244,
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-1.5463403463363647,
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0
] |
[
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-0.01957855187356472,
-0.0594133585691452,
0.9977383017539978,
0.001323995878919959,
0.03141000494360924
] | 2.4
| 12
| 0
| 12
| 0
|
[
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0
] |
[
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[
-0.10000000149011612,
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] | 0
|
[
-0.000003874301910400391,
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] |
[
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0
] |
[
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] |
[
0,
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0
] | 0
|
[
2.9802322387695312e-8,
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[
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0
] |
[
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] |
[
0,
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0
] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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0
] |
[
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[
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] | 0
|
[
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] |
[
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] |
[
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[
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] | 0
|
[
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5.364418029785156e-7,
0.00001607951708137989
] |
[
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0
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[
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[
0,
0,
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] | 0
|
[
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[
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[
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[
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0
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|
[
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0.000014133751392364502,
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0.000007164431735873222
] |
sweep the green cloth to the left side of the table
|
[
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0
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[
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[
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| 13
| 0
| 13
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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0
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|
[
2.384185791015625e-7,
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[
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[
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[
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0
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|
[
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[
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[
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[
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|
[
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[
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] |
[
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[
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|
[
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[
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] |
[
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[
0,
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] | 0
|
[
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[
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[
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[
0,
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] | 0
|
[
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[
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0
] |
[
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.000002652406692504883,
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0.000012900680303573608,
-0.00000642240047454834,
-8.344650268554688e-7,
0.000012432923540472984
] |
sweep the green cloth to the left side of the table
|
[
-3.471240997314453,
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-2.6705124378204346,
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0
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[
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] |
[
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] | 2.8
| 14
| 0
| 14
| 0
|
[
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] |
[
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[
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] | 0
|
[
-3.8743019104003906e-7,
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[
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0
] |
[
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[
0,
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0
] | 0
|
[
4.76837158203125e-7,
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[
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0
] |
[
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[
0,
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0
] | 0
|
[
-0.000003635883331298828,
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[
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0
] |
[
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[
0,
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0
] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
-0.0000027120113372802734,
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[
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] |
[
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[
0,
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] | 0
|
[
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7.152557373046875e-7,
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] |
[
-3.2958836555480957,
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0
] |
[
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] |
[
0,
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] | 0
|
[
-0.0000019669532775878906,
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[
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0
] |
[
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[
-0.20000000298023224,
0,
0
] | 0
|
[
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0.000011408701539039612,
-0.00000846758484840393,
-8.940696716308594e-7,
0.000017355196177959442
] |
sweep the green cloth to the left side of the table
|
[
-3.4855387210845947,
-1.1409982442855835,
2.187622547149658,
-2.6713645458221436,
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0.024834569543600082,
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0,
0
] |
[
-3.4855387210845947,
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0
] |
[
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-0.059317152947187424,
0.9977416396141052,
0.004431925714015961,
0.031200921162962914
] | 3
| 15
| 0
| 15
| 0
|
[
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] |
[
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[
-0.10000000149011612,
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] | 0
|
[
0.0000014603137969970703,
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0.00008055195212364197,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
7.152557373046875e-7,
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[
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] |
[
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[
0,
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0
] | 0
|
[
-0.000003516674041748047,
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[
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] |
[
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[
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] | 0
|
[
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0.000027575064450502396
] |
[
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0
] |
[
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[
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] | 0
|
[
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] |
[
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[
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[
0,
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] | 0
|
[
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8.344650268554688e-7,
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[
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[
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[
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|
[
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[
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] |
[
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[
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0
] | 0
|
[
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0.000009486451745033264,
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0.000022377818822860718
] |
sweep the green cloth to the left side of the table
|
[
-3.500685930252075,
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2.1561331748962402,
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0
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[
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0
] |
[
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] | 3.2
| 16
| 0
| 16
| 0
|
[
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[
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[
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] | 0
|
[
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[
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] |
[
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[
0,
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0
] | 0
|
[
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[
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] |
[
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[
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0
] | 0
|
[
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[
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] |
[
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[
0,
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] | 0
|
[
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[
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0
] |
[
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[
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0
] | 0
|
[
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] |
[
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0
] |
[
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] |
[
0,
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0
] | 0
|
[
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8.940696716308594e-7,
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] |
[
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0
] |
[
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] |
[
0,
0,
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] | 0
|
[
-0.0000011920928955078125,
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[
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0
] |
[
0.3266414701938629,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.0000035762786865234375,
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0.000007197260856628418,
-0.000012505799531936646,
-0.0000011324882507324219,
0.000026944559067487717
] |
sweep the green cloth to the left side of the table
|
[
-3.5155467987060547,
-1.0804976224899292,
2.1259021759033203,
-2.6659185886383057,
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0
] |
[
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0
] |
[
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] | 3.4
| 17
| 0
| 17
| 0
|
[
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] |
[
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[
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] | 0
|
[
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] |
[
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] |
[
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] |
[
0,
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0
] | 0
|
[
0.0000012516975402832031,
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] |
[
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0
] |
[
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0.030551493167877197,
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] |
[
0,
0,
0
] | 0
|
[
-0.000003337860107421875,
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] |
[
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2.9847605228424072,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
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] |
[
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0
] |
[
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] |
[
-0.05000000074505806,
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0
] | 0
|
[
-0.0000018477439880371094,
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0.00011531636118888855,
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] |
[
0.25129497051239014,
1.9391882419586182,
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0
] |
[
0.5357444286346436,
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0.9977152943611145,
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] |
[
0,
0,
0
] | 0
|
[
0.0000059604644775390625,
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-0.00010180845856666565,
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8.940696716308594e-7,
0.000034712255001068115
] |
[
-3.3645570278167725,
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-1.347792625427246,
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0
] |
[
0.5357511639595032,
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0.030682915821671486,
-0.059305205941200256,
0.9977208375930786,
0.009726564399898052
] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-7.748603820800781e-7,
-0.000003822147846221924,
8.717179298400879e-7,
-0.00003460049629211426,
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] |
[
-0.20140765607357025,
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0
] |
[
0.3357464373111725,
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0.030643489211797714,
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0.9977174997329712,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.000003933906555175781,
-0.00000225752592086792,
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0.00000482611358165741,
-0.000014469027519226074,
-0.0000013113021850585938,
0.00003162119537591934
] |
sweep the green cloth to the left side of the table
|
[
-3.531006336212158,
-1.0526269674301147,
2.0960779190063477,
-2.6609880924224854,
-1.526511549949646,
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0.5215374231338501,
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-0.12778392434120178,
0.662047266960144,
0.7487821578979492,
0.02826629765331745,
0.014823047444224358,
0,
0
] |
[
-3.531006336212158,
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2.0960779190063477,
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2.6343114376068115,
0
] |
[
0.5357503890991211,
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-0.0551380030810833,
-0.05938562750816345,
0.9977161884307861,
0.00981973297894001,
0.03064831532537937
] | 3.6
| 18
| 0
| 18
| 0
|
[
-0.10538576543331146,
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0.3008984625339508,
-1.8292204141616821,
1.6943989992141724,
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1.30470871925354,
0
] |
[
0.4456799328327179,
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0.011966113932430744
] |
[
-0.10000000149011612,
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-0.05000000074505806
] | 0
|
[
0.000004857778549194336,
0.000004120171070098877,
6.183981895446777e-7,
-0.00017601624131202698,
0.00006629899144172668,
0.000010132789611816406,
-0.00006843544542789459
] |
[
-0.19837580621242523,
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1.2103548049926758,
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0
] |
[
0.5456832051277161,
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0.0303497351706028,
-0.0593668594956398,
0.9977041482925415,
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] |
[
0,
0,
0
] | 0
|
[
0.0000015497207641601562,
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] |
[
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0
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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0.00003609992563724518
] |
sweep the green cloth to the left side of the table
|
[
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[
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[
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] | 3.8
| 19
| 0
| 19
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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0
] | 0
|
[
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[
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[
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[
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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
0,
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] | 0
|
[
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[
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] |
[
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[
-0.20000000298023224,
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0
] | 0
|
[
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-0.0000015031546354293823,
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-0.0000015497207641601562,
0.000039936043322086334
] |
sweep the green cloth to the left side of the table
|
[
-3.5566930770874023,
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2.028937339782715,
-2.666301965713501,
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0
] |
[
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0
] |
[
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-0.05938522890210152,
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] | 4
| 20
| 0
| 20
| 0
|
[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
0,
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] | 0
|
[
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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.000003039836883544922,
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[
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
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] | 0
|
[
-9.5367431640625e-7,
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] |
[
0.2914237976074219,
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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] |
[
0,
0,
0.15000000596046448
] | 0
|
[
8.344650268554688e-7,
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[
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] |
[
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[
-0.20000000298023224,
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0
] | 0
|
[
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-0.000005511566996574402,
-0.00001856684684753418,
-0.0000014901161193847656,
0.000042662955820560455
] |
sweep the green cloth to the left side of the table
|
[
-3.5630757808685303,
-0.9333813786506653,
1.9979777336120605,
-2.6762101650238037,
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0,
0
] |
[
-3.5630757808685303,
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0
] |
[
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0.9977256655693054,
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] | 4.2
| 21
| 0
| 21
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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0
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|
[
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[
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[
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[
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0
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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0
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|
[
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0.00004448089748620987
] |
sweep the green cloth to the left side of the table
|
[
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1.985335350036621,
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[
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[
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] | 4.4
| 22
| 0
| 22
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
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0
] | 0
|
[
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[
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[
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[
0,
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0
] | 0
|
[
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[
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[
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[
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|
[
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[
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] |
[
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[
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0
] | 0
|
[
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[
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] |
[
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[
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|
[
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[
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0
] |
[
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[
0,
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] | 0
|
[
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[
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0
] |
[
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[
-0.20000000298023224,
0,
0
] | 0
|
[
0.000005453824996948242,
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-0.000003807246685028076,
-0.000016886740922927856,
-0.0000011920928955078125,
0.00004038121551275253
] |
sweep the green cloth to the left side of the table
|
[
-3.5539145469665527,
-0.8867271542549133,
1.9930334091186523,
-2.719897508621216,
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0,
0
] |
[
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0
] |
[
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] | 4.6
| 23
| 0
| 23
| 0
|
[
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] |
[
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[
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] | 0
|
[
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0.00006720423698425293,
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[
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0
] |
[
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[
0,
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0
] | 0
|
[
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[
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] |
[
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[
0,
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] | 0
|
[
-0.0000029802322387695312,
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[
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] |
[
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[
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|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
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|
[
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[
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[
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[
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|
[
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[
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0.1392955631017685,
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0
] |
[
0.36298033595085144,
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[
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0
] | 0
|
[
0.0000050067901611328125,
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3.688037395477295e-7,
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-0.0000010728836059570312,
0.0000360291451215744
] |
sweep the green cloth to the left side of the table
|
[
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0
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[
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] |
[
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] | 4.8
| 24
| 0
| 24
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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] | 0
|
[
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[
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[
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[
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|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
0,
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] | 0
|
[
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[
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] |
[
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[
-0.20000000298023224,
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0
] | 0
|
[
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0.0000041425228118896484,
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-0.0000010132789611816406,
0.00003173947334289551
] |
sweep the green cloth to the left side of the table
|
[
-3.5170557498931885,
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[
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] |
[
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] | 5
| 25
| 0
| 25
| 0
|
[
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[
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[
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] | 0
|
[
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[
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] |
[
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[
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0
] | 0
|
[
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[
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] |
[
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[
0,
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0
] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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[
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[
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] | 0
|
[
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] |
[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
0,
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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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0.000007040798664093018,
-0.000010531395673751831,
-8.940696716308594e-7,
0.000026783905923366547
] |
sweep the green cloth to the left side of the table
|
[
-3.4967703819274902,
-0.8925798535346985,
2.0480690002441406,
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0
] |
[
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0
] |
[
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0.9986345767974854,
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] | 5.2
| 26
| 0
| 26
| 0
|
[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
-8.940696716308594e-7,
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[
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0
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[
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[
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0
] | 0
|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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0.000008571892976760864,
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0.000020668841898441315
] |
sweep the green cloth to the left side of the table
|
[
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0
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[
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[
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] | 5.4
| 27
| 0
| 27
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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0
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|
[
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[
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[
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[
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|
[
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[
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] |
[
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[
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|
[
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[
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] |
[
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[
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] | 0
|
[
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] |
[
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0
] |
[
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[
0,
0,
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] | 0
|
[
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7.925555109977722e-7
] |
[
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0
] |
[
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[
0,
0,
0.15000000596046448
] | 0
|
[
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[
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0
] |
[
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[
-0.20000000298023224,
0,
0
] | 0
|
[
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3.8743019104003906e-7,
-8.642673492431641e-7,
0,
-0.0000026649795472621918
] |
sweep the green cloth to the left side of the table
|
[
-3.4510409832000732,
-0.8923161625862122,
2.0696072578430176,
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0
] |
[
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0
] |
[
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0.9987470507621765,
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] | 5.6
| 28
| 0
| 28
| 0
|
[
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] |
[
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[
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] | 0
|
[
3.2782554626464844e-7,
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[
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] |
[
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[
0,
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0
] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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[
0.14935123920440674,
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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] |
[
0,
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] | 0
|
[
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5.960464477539062e-7,
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[
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0
] |
[
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[
-0.20000000298023224,
0,
0
] | 0
|
[
0.0000037848949432373047,
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0.000010732561349868774,
-0.0000018943101167678833,
-5.364418029785156e-7,
0.000005073379725217819
] |
sweep the green cloth to the left side of the table
|
[
-3.426757574081421,
-0.8909252285957336,
2.0777244567871094,
-2.8329579830169678,
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0.7258564829826355,
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0,
0
] |
[
-3.426757574081421,
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2.0777244567871094,
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2.8063924312591553,
0
] |
[
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-0.02569333277642727,
0.9987871646881104,
0.006200105417519808,
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] | 5.8
| 29
| 0
| 29
| 0
|
[
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0
] |
[
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[
-0.10000000149011612,
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] | 0
|
[
-5.960464477539063e-8,
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0.0000030994415283203125,
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[
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0
] |
[
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[
0,
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0
] | 0
|
[
0.0000013709068298339844,
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0.000050473958253860474,
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[
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0
] |
[
0.5506552457809448,
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0.04299074038863182,
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0.0048561180010437965
] |
[
0,
0,
0
] | 0
|
[
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0.00009116530418395996,
0.000002419576048851013,
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0.000039422884583473206
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[
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sweep the green cloth to the left side of the table
|
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[
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[
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[
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sweep the green cloth to the left side of the table
|
[
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[
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[
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| 31
| 0
| 31
| 0
|
End of preview. Expand
in Data Studio
berkeley_autolab_ur5_train_0_100
Overview
- Codebase version:
v2.1 - Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, widowX, xarm7
- FPS: 5.0
- Episodes: 100
- Frames: 9,863
- Videos: 900
- Chunks: 1
- Splits:
train:0:100
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 | 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
Citation Policy
If you use OXE-Aug datasets, please cite both our dataset and the upstream datasets.
Upstream Dataset Citation (original dataset)
@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)
@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}
}
- Downloads last month
- 100
Size of downloaded dataset files:
13.4 MB
Size of the auto-converted Parquet files:
13.4 MB
Number of rows:
9,863