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README.md

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+---
+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}
+}
+```

meta/episodes.jsonl

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+{"episode_index": 1, "tasks": ["put the ranch bottle into the pot"], "length": 96}
+{"episode_index": 2, "tasks": ["pick up the blue cup and put it into the brown cup. "], "length": 103}
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+{"episode_index": 4, "tasks": ["put the ranch bottle into the pot"], "length": 97}
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+{"episode_index": 8, "tasks": ["put the ranch bottle into the pot"], "length": 96}
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+{"episode_index": 98, "tasks": ["put the ranch bottle into the pot"], "length": 88}
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meta/info.json

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+{
+  "codebase_version": "v2.1",
+  "robot_type": "mixed",
+  "total_episodes": 100,
+  "total_frames": 9479,
+  "total_tasks": 5,
+  "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": [
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+      ]
+    },
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+      "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
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