Berkeley Autolab Ur5 Augmented
Collection
10 items
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Updated
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observation.kuka_iiwa.joints
listlengths 8
8
| observation.kuka_iiwa.ee_pose
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7
| observation.kuka_iiwa.base_position
listlengths 3
3
| observation.kuka_iiwa.base_orientation
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0
| observation.kuka_iiwa.ee_error
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7
| observation.xarm7.joints
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8
| observation.xarm7.ee_pose
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| observation.xarm7.base_position
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3
| observation.xarm7.base_orientation
float32 0
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| observation.xarm7.ee_error
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7
| observation.sawyer.joints
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| observation.sawyer.ee_pose
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| observation.sawyer.base_position
listlengths 3
3
| observation.sawyer.base_orientation
float32 0
0
| observation.sawyer.ee_error
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7
| observation.panda.joints
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8
| observation.panda.ee_pose
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| observation.panda.base_position
listlengths 3
3
| observation.panda.base_orientation
float32 0
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| observation.panda.ee_error
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7
| observation.kinova3.joints
listlengths 8
8
| observation.kinova3.ee_pose
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7
| observation.kinova3.base_position
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3
| observation.kinova3.base_orientation
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| observation.kinova3.ee_error
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| observation.jaco.joints
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7
| observation.jaco.ee_pose
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7
| observation.jaco.base_position
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3
| observation.jaco.base_orientation
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| observation.jaco.ee_error
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7
| observation.google_robot.joints
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8
| observation.google_robot.ee_pose
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7
| observation.google_robot.base_position
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3
| observation.google_robot.base_orientation
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| observation.google_robot.ee_error
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| observation.widowX.joints
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7
| observation.widowX.ee_pose
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| observation.widowX.base_position
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3
| observation.widowX.base_orientation
float32 0
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| observation.widowX.ee_error
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7
| natural_language_instruction
stringclasses 4
values | observation.state
listlengths 15
15
| observation.joints
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7
| observation.ee_pose
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7
| timestamp
float64 0
25.6
| frame_index
int64 0
128
| episode_index
int64 0
99
| index
int64 0
9.8k
| task_index
int64 0
3
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pick up the blue cup and put it into the brown cup.
|
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pick up the blue cup and put it into the brown cup.
|
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pick up the blue cup and put it into the brown cup.
|
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pick up the blue cup and put it into the brown cup.
|
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pick up the blue cup and put it into the brown cup.
|
[
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[
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[
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[
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pick up the blue cup and put it into the brown cup.
|
[
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[
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| 7
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| 7
| 0
|
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pick up the blue cup and put it into the brown cup.
|
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pick up the blue cup and put it into the brown cup.
|
[
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[
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[
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[
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pick up the blue cup and put it into the brown cup.
|
[
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[
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pick up the blue cup and put it into the brown cup.
|
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pick up the blue cup and put it into the brown cup.
|
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| 12
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pick up the blue cup and put it into the brown cup.
|
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pick up the blue cup and put it into the brown cup.
|
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pick up the blue cup and put it into the brown cup.
|
[
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| 15
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pick up the blue cup and put it into the brown cup.
|
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pick up the blue cup and put it into the brown cup.
|
[
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pick up the blue cup and put it into the brown cup.
|
[
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[
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[
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| 18
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| 18
| 0
|
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pick up the blue cup and put it into the brown cup.
|
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pick up the blue cup and put it into the brown cup.
|
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pick up the blue cup and put it into the brown cup.
|
[
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| 21
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pick up the blue cup and put it into the brown cup.
|
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pick up the blue cup and put it into the brown cup.
|
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pick up the blue cup and put it into the brown cup.
|
[
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[
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[
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| 24
| 0
| 24
| 0
|
[
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pick up the blue cup and put it into the brown cup.
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pick up the blue cup and put it into the brown cup.
|
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pick up the blue cup and put it into the brown cup.
|
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pick up the blue cup and put it into the brown cup.
|
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| 28
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pick up the blue cup and put it into the brown cup.
|
[
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| 29
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pick up the blue cup and put it into the brown cup.
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pick up the blue cup and put it into the brown cup.
|
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pick up the blue cup and put it into the brown cup.
|
[
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[
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[
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| 32
| 0
| 32
| 0
|
End of preview. Expand
in Data Studio
berkeley_autolab_ur5_train_600_700
Overview
- Codebase version:
v2.1 - Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, widowX, xarm7
- FPS: 5.0
- Episodes: 100
- Frames: 9,804
- Videos: 900
- Chunks: 1
- Splits:
train:0:100
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.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/
- Project repository: https://github.com/GuanhuaJi/oxe-aug
Paper
Citation Policy
If you use OXE-Aug datasets, please cite both our dataset and the upstream datasets.
Upstream Dataset Citation (original dataset)
@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)
@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}
}
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