Add files using upload-large-folder tool

README.md

@@ -0,0 +1,139 @@
+---
+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: 5.0
+  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
+
+```text
+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/](https://oxe-aug.github.io/)
+- Project repository: [https://github.com/GuanhuaJi/oxe-aug](https://github.com/GuanhuaJi/oxe-aug)
+
+## Paper
+
+- [https://sites.google.com/view/berkeley-ur5/home](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)
+
+```bibtex
+@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)
+
+```bibtex
+@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}
+}
+```

meta/episodes.jsonl

@@ -0,0 +1,100 @@
+{"episode_index": 0, "tasks": ["sweep the green cloth to the left side of the table"], "length": 71}
+{"episode_index": 1, "tasks": ["sweep the green cloth to the left side of the table"], "length": 76}
+{"episode_index": 2, "tasks": ["put the ranch bottle into the pot"], "length": 81}
+{"episode_index": 3, "tasks": ["sweep the green cloth to the left side of the table"], "length": 80}
+{"episode_index": 4, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 123}
+{"episode_index": 5, "tasks": ["put the ranch bottle into the pot"], "length": 103}
+{"episode_index": 6, "tasks": ["put the ranch bottle into the pot"], "length": 110}
+{"episode_index": 7, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 118}
+{"episode_index": 8, "tasks": ["sweep the green cloth to the left side of the table"], "length": 84}
+{"episode_index": 9, "tasks": ["put the ranch bottle into the pot"], "length": 97}
+{"episode_index": 10, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 120}
+{"episode_index": 11, "tasks": ["sweep the green cloth to the left side of the table"], "length": 101}
+{"episode_index": 12, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 115}
+{"episode_index": 13, "tasks": ["sweep the green cloth to the left side of the table"], "length": 70}
+{"episode_index": 14, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 102}
+{"episode_index": 15, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 89}
+{"episode_index": 16, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 108}
+{"episode_index": 17, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 96}
+{"episode_index": 18, "tasks": ["sweep the green cloth to the left side of the table"], "length": 74}
+{"episode_index": 19, "tasks": ["sweep the green cloth to the left side of the table"], "length": 75}
+{"episode_index": 20, "tasks": ["sweep the green cloth to the left side of the table"], "length": 74}
+{"episode_index": 21, "tasks": ["sweep the green cloth to the left side of the table"], "length": 71}
+{"episode_index": 22, "tasks": ["sweep the green cloth to the left side of the table"], "length": 77}
+{"episode_index": 23, "tasks": ["put the ranch bottle into the pot"], "length": 106}
+{"episode_index": 24, "tasks": ["sweep the green cloth to the left side of the table"], "length": 81}
+{"episode_index": 25, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 107}
+{"episode_index": 26, "tasks": ["put the ranch bottle into the pot"], "length": 106}
+{"episode_index": 27, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 89}
+{"episode_index": 28, "tasks": ["sweep the green cloth to the left side of the table"], "length": 81}
+{"episode_index": 29, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 107}
+{"episode_index": 30, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 92}
+{"episode_index": 31, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 97}
+{"episode_index": 32, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 96}
+{"episode_index": 33, "tasks": ["sweep the green cloth to the left side of the table"], "length": 73}
+{"episode_index": 34, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 119}
+{"episode_index": 35, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 121}
+{"episode_index": 36, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 100}
+{"episode_index": 37, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 120}
+{"episode_index": 38, "tasks": ["put the ranch bottle into the pot"], "length": 106}
+{"episode_index": 39, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 123}
+{"episode_index": 40, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 114}
+{"episode_index": 41, "tasks": ["put the ranch bottle into the pot"], "length": 89}
+{"episode_index": 42, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 89}
+{"episode_index": 43, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 129}
+{"episode_index": 44, "tasks": ["put the ranch bottle into the pot"], "length": 107}
+{"episode_index": 45, "tasks": ["put the ranch bottle into the pot"], "length": 100}
+{"episode_index": 46, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 85}
+{"episode_index": 47, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 110}
+{"episode_index": 48, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 105}
+{"episode_index": 49, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 127}
+{"episode_index": 50, "tasks": ["put the ranch bottle into the pot"], "length": 102}
+{"episode_index": 51, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 100}
+{"episode_index": 52, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 109}
+{"episode_index": 53, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 90}
+{"episode_index": 54, "tasks": ["sweep the green cloth to the left side of the table"], "length": 94}
+{"episode_index": 55, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 106}
+{"episode_index": 56, "tasks": ["put the ranch bottle into the pot"], "length": 99}
+{"episode_index": 57, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 127}
+{"episode_index": 58, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 115}
+{"episode_index": 59, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 101}
+{"episode_index": 60, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 113}
+{"episode_index": 61, "tasks": ["sweep the green cloth to the left side of the table"], "length": 77}
+{"episode_index": 62, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 94}
+{"episode_index": 63, "tasks": ["sweep the green cloth to the left side of the table"], "length": 84}
+{"episode_index": 64, "tasks": ["sweep the green cloth to the left side of the table"], "length": 70}
+{"episode_index": 65, "tasks": ["put the ranch bottle into the pot"], "length": 108}
+{"episode_index": 66, "tasks": ["put the ranch bottle into the pot"], "length": 96}
+{"episode_index": 67, "tasks": ["put the ranch bottle into the pot"], "length": 107}
+{"episode_index": 68, "tasks": ["sweep the green cloth to the left side of the table"], "length": 83}
+{"episode_index": 69, "tasks": ["sweep the green cloth to the left side of the table"], "length": 89}
+{"episode_index": 70, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 91}
+{"episode_index": 71, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 123}
+{"episode_index": 72, "tasks": ["put the ranch bottle into the pot"], "length": 89}
+{"episode_index": 73, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 115}
+{"episode_index": 74, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 110}
+{"episode_index": 75, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 109}
+{"episode_index": 76, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 115}
+{"episode_index": 77, "tasks": ["sweep the green cloth to the left side of the table"], "length": 94}
+{"episode_index": 78, "tasks": ["put the ranch bottle into the pot"], "length": 94}
+{"episode_index": 79, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 113}
+{"episode_index": 80, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 94}
+{"episode_index": 81, "tasks": ["sweep the green cloth to the left side of the table"], "length": 86}
+{"episode_index": 82, "tasks": ["sweep the green cloth to the left side of the table"], "length": 81}
+{"episode_index": 83, "tasks": ["put the ranch bottle into the pot"], "length": 96}
+{"episode_index": 84, "tasks": ["put the ranch bottle into the pot"], "length": 122}
+{"episode_index": 85, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 89}
+{"episode_index": 86, "tasks": ["sweep the green cloth to the left side of the table"], "length": 99}
+{"episode_index": 87, "tasks": ["sweep the green cloth to the left side of the table"], "length": 75}
+{"episode_index": 88, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 119}
+{"episode_index": 89, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 124}
+{"episode_index": 90, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 105}
+{"episode_index": 91, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 86}
+{"episode_index": 92, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 88}
+{"episode_index": 93, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 105}
+{"episode_index": 94, "tasks": ["sweep the green cloth to the left side of the table"], "length": 81}
+{"episode_index": 95, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 104}
+{"episode_index": 96, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 89}
+{"episode_index": 97, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 116}
+{"episode_index": 98, "tasks": ["take the tiger out of the red bowl and put it in the grey bowl"], "length": 96}
+{"episode_index": 99, "tasks": ["put the ranch bottle into the pot"], "length": 97}

meta/info.json

@@ -0,0 +1,479 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "mixed",
+  "total_episodes": 100,
+  "total_frames": 9863,
+  "total_tasks": 4,
+  "total_videos": 900,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 5.0,
+  "splits": {
+    "train": "0:100"
+  },
+  "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": {
+    "observation.kuka_iiwa.joints": {
+      "dtype": "float32",
+      "shape": [
+        8
+      ]
+    },
+    "observation.kuka_iiwa.ee_pose": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ]
+    },
+    "observation.kuka_iiwa.base_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ]
+    },
+    "observation.kuka_iiwa.base_orientation": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ]
+    },
+    "observation.kuka_iiwa.ee_error": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ]
+    },
+    "observation.images.kuka_iiwa": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.xarm7.joints": {
+      "dtype": "float32",
+      "shape": [
+        8
+      ]
+    },
+    "observation.xarm7.ee_pose": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ]
+    },
+    "observation.xarm7.base_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ]
+    },
+    "observation.xarm7.base_orientation": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ]
+    },
+    "observation.xarm7.ee_error": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ]
+    },
+    "observation.images.xarm7": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.sawyer.joints": {
+      "dtype": "float32",
+      "shape": [
+        8
+      ]
+    },
+    "observation.sawyer.ee_pose": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ]
+    },
+    "observation.sawyer.base_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ]
+    },
+    "observation.sawyer.base_orientation": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ]
+    },
+    "observation.sawyer.ee_error": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ]
+    },
+    "observation.images.sawyer": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.panda.joints": {
+      "dtype": "float32",
+      "shape": [
+        8
+      ]
+    },
+    "observation.panda.ee_pose": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ]
+    },
+    "observation.panda.base_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ]
+    },
+    "observation.panda.base_orientation": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ]
+    },
+    "observation.panda.ee_error": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ]
+    },
+    "observation.images.panda": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.kinova3.joints": {
+      "dtype": "float32",
+      "shape": [
+        8
+      ]
+    },
+    "observation.kinova3.ee_pose": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ]
+    },
+    "observation.kinova3.base_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ]
+    },
+    "observation.kinova3.base_orientation": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ]
+    },
+    "observation.kinova3.ee_error": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ]
+    },
+    "observation.images.kinova3": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.jaco.joints": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ]
+    },
+    "observation.jaco.ee_pose": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ]
+    },
+    "observation.jaco.base_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ]
+    },
+    "observation.jaco.base_orientation": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ]
+    },
+    "observation.jaco.ee_error": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ]
+    },
+    "observation.images.jaco": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.google_robot.joints": {
+      "dtype": "float32",
+      "shape": [
+        8
+      ]
+    },
+    "observation.google_robot.ee_pose": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ]
+    },
+    "observation.google_robot.base_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ]
+    },
+    "observation.google_robot.base_orientation": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ]
+    },
+    "observation.google_robot.ee_error": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ]
+    },
+    "observation.images.google_robot": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.widowX.joints": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ]
+    },
+    "observation.widowX.ee_pose": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ]
+    },
+    "observation.widowX.base_position": {
+      "dtype": "float32",
+      "shape": [
+        3
+      ]
+    },
+    "observation.widowX.base_orientation": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ]
+    },
+    "observation.widowX.ee_error": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ]
+    },
+    "observation.images.widowX": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.images.image": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "natural_language_instruction": {
+      "dtype": "string",
+      "shape": [
+        1
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        15
+      ]
+    },
+    "observation.joints": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ]
+    },
+    "observation.ee_pose": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ]
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    }
+  }
+}

meta/tasks.jsonl

@@ -0,0 +1,4 @@
+{"task_index": 0, "task": "sweep the green cloth to the left side of the table"}
+{"task_index": 1, "task": "put the ranch bottle into the pot"}
+{"task_index": 2, "task": "pick up the blue cup and put it into the brown cup. "}
+{"task_index": 3, "task": "take the tiger out of the red bowl and put it in the grey bowl"}

videos/chunk-000/observation.images.sawyer/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2edf67fffa3517d4bd7b78d6223d33f9d3b9e9f985fb7b3059be87e768cd8ee
+size 1237278

videos/chunk-000/observation.images.sawyer/episode_000003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c765ab8459af0c1d4af4b3fd58d364638e1895749a5b470cbf7573b90f062b0
+size 1226014

videos/chunk-000/observation.images.sawyer/episode_000004.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe23624604dc21fa4e530633fb8f35a00a86ee26f95433668ce1f44b2ba226fb
+size 1520777

videos/chunk-000/observation.images.sawyer/episode_000005.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3008cf8795f02fbaf73cf238f4e70936b6eba9f0f5824516b22961a2080996b
+size 1608700

videos/chunk-000/observation.images.sawyer/episode_000013.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc92c47ec64f4a01c7b4884f3aa475d85a9f5f770744c21d508800dc1e2640a4
+size 1126847

videos/chunk-000/observation.images.sawyer/episode_000014.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbdbeb0cc337cb2673682d585f06c84b6d51bd848ea07927a8e75e2a9ba5e70e
+size 1446761

videos/chunk-000/observation.images.sawyer/episode_000020.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af592d418e194950dad0ffd1dc4651b63f7d5f9714be6d4a7f4ea811948063b2
+size 1120547

videos/chunk-000/observation.images.sawyer/episode_000021.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d50fad1a048c9013f46813a5286f78a8047bb022a9439652400ca41968307fec
+size 1118534

videos/chunk-000/observation.images.sawyer/episode_000026.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6d9e2c5fa0356dde9322afa5adc3da431d3a6bdf05c08eb1bffd9c5710b5946
+size 1450390

videos/chunk-000/observation.images.sawyer/episode_000027.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d35d94d02638c2d7f88ad9ef86f6f0ef7dbf8834ce3fe8c90df4c37ad21e1cd
+size 1100292

videos/chunk-000/observation.images.sawyer/episode_000028.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28f08cfcb6f48e2e88f1b95c133560d6150dc6df8d1eb44a4f74c40c3b6288bb
+size 1232929

videos/chunk-000/observation.images.sawyer/episode_000029.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd299de08e38b63b1b404a7653eba9e9e67330751462d3a4e68a92995de97f4a
+size 1452751

videos/chunk-000/observation.images.sawyer/episode_000030.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89805092188baba5d99d82830f08e8cfaf89cf5370e4c38f6f62b873c6b6ee9c
+size 1193383

videos/chunk-000/observation.images.sawyer/episode_000031.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83de56efbce37fd559149fb6784b08819c0f0c4e74eba5a633d7d2e613536a18
+size 1311409

videos/chunk-000/observation.images.sawyer/episode_000036.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db8e623478017e7219d52221b86cd0e55af43d0d337117843d00d3403b211387
+size 1324328

videos/chunk-000/observation.images.sawyer/episode_000037.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c44a717158e9a2f851a6153661c4872468351b3c5a9d5fab25bd4d59bef2d0f
+size 1614081

videos/chunk-000/observation.images.sawyer/episode_000038.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cecfd48b7453588a8423db3b56d2bfc878cd866119b5db1fd1d0a65236778980
+size 1676615

videos/chunk-000/observation.images.sawyer/episode_000039.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55f0d99c9191d760881af5f8909e65da6263c444d50f6c02a017fb0787b1c779
+size 1693235

videos/chunk-000/observation.images.sawyer/episode_000042.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f20c4db0b4c490c635b9e7f5700a0e8358f84556b3f4543fc7f84846a6cce49b
+size 1205868

videos/chunk-000/observation.images.sawyer/episode_000043.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6670f4e899cd847c4e47eb4480a094f9e7891eb22982291e33cfa36b6d10c230
+size 1713783

videos/chunk-000/observation.images.sawyer/episode_000044.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e06696c6908aca0c95af91b886b7136ea8487ab2d7e3a3d0de6ee3e64dd24fa
+size 1489248

videos/chunk-000/observation.images.sawyer/episode_000045.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06d7666a89dca8279706861703db5d5d78f0d28f555cfd47539b082b904d6e46
+size 1550782

videos/chunk-000/observation.images.sawyer/episode_000052.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68e5eb385c034ffdb35ab6173fb695dbf30ec5dbceb8897d3e7f12bf173282ad
+size 1584769

videos/chunk-000/observation.images.sawyer/episode_000053.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ea8dd04bf7102f8e4d75efc83c5770d482a7e55b20d13b7c279dc9a1520777b
+size 1190583

videos/chunk-000/observation.images.sawyer/episode_000054.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:313940d720959a0cfe4d91ad72491aecbef44a27358b95867b65e2813e4372a0
+size 1432430

videos/chunk-000/observation.images.sawyer/episode_000055.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:441897d377df2f19ad1a8c855a7da92a8357b38c681af4c20e04f5af7e190556
+size 1496379

videos/chunk-000/observation.images.sawyer/episode_000060.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d2549d54039f0b4f1988aba25313120714b24c73add100e74b6ad6cd5398e7c
+size 1602847

videos/chunk-000/observation.images.sawyer/episode_000061.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f6334569f26bca418f785e1b70892407912f7ddb650c34a609987fe44bb6b33
+size 1200523

videos/chunk-000/observation.images.sawyer/episode_000066.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd566cbc0c24a949d92ee74607b7377bc70c2b4fb0ee2ab92063d783a335a1a8
+size 1343766

videos/chunk-000/observation.images.sawyer/episode_000067.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3d523fe977eb4d505b8c1eda0d411c1a6ade9dd097f94be4dd0883f8914557a
+size 1493662

videos/chunk-000/observation.images.sawyer/episode_000068.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27142d031d242f71fa4b7005bc102c7e812e1cca72940e7fc8a0c491ef53698a
+size 1315522

videos/chunk-000/observation.images.sawyer/episode_000070.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea294cd0bcbe59b28f58254937f5d13330898e8005a0863216a6b58007ac3b60
+size 1277884

videos/chunk-000/observation.images.sawyer/episode_000071.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62c11b44c070156300897d71e1e1533c6fc7953bf58a2d42e657f225ccd0b855
+size 1645138

videos/chunk-000/observation.images.sawyer/episode_000076.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a50bf3b82497f714ef6f5e86f6568b222c030ba45e1d6206e99330e2d989e617
+size 1582528

videos/chunk-000/observation.images.sawyer/episode_000077.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f2a8de40472deaedff08eb098b077073f913151cdb3bbeaad579687628ec401
+size 1610505

videos/chunk-000/observation.images.sawyer/episode_000078.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdd0d8966522e9bd1276cc29fa9fa24c6ef810b1d04264efbd10c84b91a28b4e
+size 1311901

videos/chunk-000/observation.images.sawyer/episode_000079.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:711a6ad4129be1533b3eed569d3fbc94096e432716d59feb7e93f271e4ed9257
+size 1569924

videos/chunk-000/observation.images.sawyer/episode_000082.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95b283a177d23440b501715c0ae647b6d033967ab44b09cf1a3f98ce2ea2df57
+size 1218956

videos/chunk-000/observation.images.sawyer/episode_000083.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9fbf1a73173d65fabb37fdf73c2df7c641f2d256a6ce0a79334aaf6fa6da608
+size 1413234

videos/chunk-000/observation.images.sawyer/episode_000084.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a50883ee4edd328f80a6a35f7eddbb986d7fb86433024ff54671d01526a11646
+size 1669525

videos/chunk-000/observation.images.sawyer/episode_000085.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da8e2e1762f953bb67214265ce08d482c2fed4e40e4d62b4d147f5ab4a131ebc
+size 1274670

videos/chunk-000/observation.images.sawyer/episode_000092.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:437830399191bb14bfefdf71ea95c86cc2a24e3e36ac5452a71deb730df60d87
+size 1278128

videos/chunk-000/observation.images.sawyer/episode_000093.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16b0b2a7a42b0184a1afd0076c6356e06af0fce3c4d5c5c17393dc3488475075
+size 1484062

videos/chunk-000/observation.images.sawyer/episode_000094.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d352078833a44f419e8abec6986ea4860af43c59b89da326325950d91e30ccbd
+size 1274878

videos/chunk-000/observation.images.sawyer/episode_000095.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ce4de42fbff47455815153d3526a4985e9e3ee030f3deeed4a4e2a352df2d59
+size 1491448