---
pretty_name: "nyu_franka_play_dataset_train_augmented"
license: "cc-by-4.0"
tags: [robotics, lerobot, oxe-auge, dataset]
task_categories: [robotics]

oxe_aug:
  codebase_version: "v3.0"
  robots: ["google_robot", "images", "jaco", "kinova3", "kuka_iiwa", "sawyer", "ur5e", "widowX", "xarm7"]
  fps: 3
  total_episodes: 365
  total_frames: 34448
  total_videos: null

configs:
  - config_name: default
    data_files:
      - split: train
        path:
          - "data/chunk-*/file-*.parquet"
---
# nyu_franka_play_dataset_train_augmented

## Overview

- **Codebase version**: `v3.0`
- **Robots**: google_robot, images, jaco, kinova3, kuka_iiwa, sawyer, ur5e, widowX, xarm7
- **FPS**: 3
- **Episodes**: 365
- **Frames**: 34,448
- **Splits**:
  - `train`: `0:365`

## Data Layout

```text
data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
```

## Features

| Feature | dtype | shape | description |
|---|---:|---:|---|
| `observation.images.google_robot` | `video` | `128×128×3` | Augmented image for google_robot robot |
| `observation.images.image` | `video` | `128×128×3` | Source robot's image from original dataset |
| `observation.images.jaco` | `video` | `128×128×3` | Augmented image for jaco robot |
| `observation.images.kinova3` | `video` | `128×128×3` | Augmented image for kinova3 robot |
| `observation.images.kuka_iiwa` | `video` | `128×128×3` | Augmented image for kuka_iiwa robot |
| `observation.images.sawyer` | `video` | `128×128×3` | Augmented image for sawyer robot |
| `observation.images.ur5e` | `video` | `128×128×3` | Augmented image for ur5e robot |
| `observation.images.widowX` | `video` | `128×128×3` | Augmented image for widowX robot |
| `observation.images.xarm7` | `video` | `128×128×3` | Augmented image for xarm7 robot |
| `episode_index` | `int64` | `1` | Index of the current episode within the dataset. |
| `frame_index` | `int64` | `1` | Index of the current frame within its episode. |
| `index` | `int64` | `1` | Global frame index across the whole dataset. |
| `natural_language_instruction` | `string` | `1` | Natural language command describing the task |
| `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` | `8` | 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.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` | `13` | Copy of the state field in source robot's RLDS dataset |
| `observation.ur5e.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
| `observation.ur5e.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
| `observation.ur5e.ee_error` | `float32` | `7` | The eef difference between the augmented ur5e robot and the original robot |
| `observation.ur5e.ee_pose` | `float32` | `7` | The eef position of ur5e robot |
| `observation.ur5e.joints` | `float32` | `7` | The joint position of ur5e robot |
| `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` | Integer ID of the high-level task this episode/frame belongs to. |
| `timestamp` | `float32` | `1` | Time stamp of the current frame within the episode (in second). |

## Website

- Website page: [https://oxe-auge.github.io/](https://oxe-auge.github.io/)
- Project repository: [https://github.com/GuanhuaJi/oxe-auge](https://github.com/GuanhuaJi/oxe-auge)

## Paper

- Not available.

## Citation Policy

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

## Upstream Dataset Citation (original dataset)

```bibtex
@article{cui2022play,
    title   = {From Play to Policy: Conditional Behavior Generation from Uncurated Robot Data},
    author  = {Cui, Zichen Jeff and Wang, Yibin and Shafiullah, Nur Muhammad Mahi and Pinto, Lerrel},
    journal = {arXiv preprint arXiv:2210.10047},
    year    = {2022}
}
```

## OXE-AugE Dataset Citation (ours)

```bibtex
@misc{
  ji2025oxeaug,
  title  = {OXE-AugE: 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}
}
```