Add files using upload-large-folder tool

README.md

@@ -0,0 +1,134 @@
+---
+pretty_name: "fractal20220817_data_train_0_5000_augmented"
+license: "cc-by-4.0"
+tags: [robotics, lerobot, oxe-auge, dataset]
+task_categories: [robotics]
+
+oxe_aug:
+  codebase_version: "v3.0"
+  robots: ["images", "jaco", "kinova3", "kuka_iiwa", "panda", "sawyer", "ur5e", "xarm7"]
+  fps: 3
+  total_episodes: 5000
+  total_frames: 214072
+  total_videos: null
+
+configs:
+  - config_name: default
+    data_files:
+      - split: train
+        path:
+          - "data/chunk-*/file-*.parquet"
+---
+# fractal20220817_data_train_0_5000_augmented
+
+## Overview
+
+- **Codebase version**: `v3.0`
+- **Robots**: images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e, xarm7
+- **FPS**: 3
+- **Episodes**: 5,000
+- **Frames**: 214,072
+- **Splits**:
+  - `train`: `0:5000`
+
+## 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.image` | `video` | `256×320×3` | Source robot's image from original dataset |
+| `observation.images.jaco` | `video` | `256×320×3` | Augmented image for jaco robot |
+| `observation.images.kinova3` | `video` | `256×320×3` | Augmented image for kinova3 robot |
+| `observation.images.kuka_iiwa` | `video` | `256×320×3` | Augmented image for kuka_iiwa robot |
+| `observation.images.panda` | `video` | `256×320×3` | Augmented image for panda robot |
+| `observation.images.sawyer` | `video` | `256×320×3` | Augmented image for sawyer robot |
+| `observation.images.ur5e` | `video` | `256×320×3` | Augmented image for ur5e robot |
+| `observation.images.xarm7` | `video` | `256×320×3` | 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.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.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` | `7` | 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.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
+
+- [https://research.google/blog/rt-1-robotics-transformer-for-real-world-control-at-scale/](https://research.google/blog/rt-1-robotics-transformer-for-real-world-control-at-scale/)
+
+## Citation Policy
+
+If you use **OXE-AugE** datasets, please cite **both** our dataset and the **upstream datasets**.
+
+## Upstream Dataset Citation (original dataset)
+
+```bibtex
+@misc{googleblog_rt1_2022,
+  author       = {Keerthana Gopalakrishnan and Kanishka Rao},
+  title        = {RT-1: Robotics Transformer for real-world control at scale},
+  howpublished = {Google Research Blog},
+  year         = {2022},
+  month        = {December},
+  url          = {https://research.google/blog/rt-1-robotics-transformer-for-real-world-control-at-scale/}
+}
+```
+
+## 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}
+}
+```

data/chunk-000/file-000.parquet

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meta/info.json

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+{
+    "codebase_version": "v3.0",
+    "robot_type": "mixed",
+    "total_episodes": 5000,
+    "total_frames": 214072,
+    "total_tasks": 487,
+    "chunks_size": 1000,
+    "fps": 3,
+    "splits": {
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+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
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+}

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