fractal20220817_data_train_45000_50000_augmented

Overview

• Codebase version: v2.1
• Robots: images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e, xarm7
• FPS: 3
• Episodes: 5,000
• Frames: 216,008
• Videos: 40,000
• Chunks: 5
• Splits:
  • train: 0:5000

Data Layout

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.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	-
frame_index	int64	1	-
index	int64	1	-
natural_language_instruction	string	1	-
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	-
timestamp	float32	1	-

Website

• Website page: https://oxe-aug.github.io/
• Project repository: https://github.com/GuanhuaJi/oxe-aug

Paper

• https://research.google/blog/rt-1-robotics-transformer-for-real-world-control-at-scale/

Citation Policy

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

Upstream Dataset Citation (original dataset)

@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-Aug Dataset Citation (ours)

@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}
}