README.md

metadata

pretty_name: berkeley_autolab_ur5_train_0_100
license: cc-by-4.0
tags:
  - robotics
  - lerobot
  - oxe-aug
  - dataset
task_categories:
  - robotics
oxe_aug:
  codebase_version: v2.1
  robots:
    - google_robot
    - images
    - jaco
    - kinova3
    - kuka_iiwa
    - panda
    - sawyer
    - widowX
    - xarm7
  fps: 5
  total_episodes: 100
  total_frames: 9863
  total_videos: 900
configs:
  - config_name: default
    data_files:
      - split: train
        path:
          - data/chunk-*/episode_*.parquet

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

• https://sites.google.com/view/berkeley-ur5/home

Citation Policy

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

Upstream Dataset Citation (original dataset)

@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}
}