File size: 8,091 Bytes
57c8f63 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 |
---
pretty_name: "berkeley_autolab_ur5_train_400_500"
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: 9479
total_videos: 900
configs:
- config_name: default
data_files:
- split: train
path:
- "data/chunk-*/episode_*.parquet"
---
# berkeley_autolab_ur5_train_400_500
## Overview
- **Codebase version**: `v2.1`
- **Robots**: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, widowX, xarm7
- **FPS**: 5.0
- **Episodes**: 100
- **Frames**: 9,479
- **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}
}
```
|