RT-1 Robot Action Augmented
Collection
69 items
•
Updated
observation.sawyer.joints
listlengths 8
8
| observation.sawyer.ee_pose
listlengths 7
7
| observation.sawyer.base_position
listlengths 3
3
| observation.sawyer.base_orientation
float32 0
0
| observation.sawyer.ee_error
listlengths 7
7
| observation.ur5e.joints
listlengths 7
7
| observation.ur5e.ee_pose
listlengths 7
7
| observation.ur5e.base_position
listlengths 3
3
| observation.ur5e.base_orientation
float32 0
0
| observation.ur5e.ee_error
listlengths 7
7
| observation.panda.joints
listlengths 8
8
| observation.panda.ee_pose
listlengths 7
7
| observation.panda.base_position
listlengths 3
3
| observation.panda.base_orientation
float32 0
0
| observation.panda.ee_error
listlengths 7
7
| observation.kinova3.joints
listlengths 8
8
| observation.kinova3.ee_pose
listlengths 7
7
| observation.kinova3.base_position
listlengths 3
3
| observation.kinova3.base_orientation
float32 0
0
| observation.kinova3.ee_error
listlengths 7
7
| observation.kuka_iiwa.joints
listlengths 8
8
| observation.kuka_iiwa.ee_pose
listlengths 7
7
| observation.kuka_iiwa.base_position
listlengths 3
3
| observation.kuka_iiwa.base_orientation
float32 0
0
| observation.kuka_iiwa.ee_error
listlengths 7
7
| observation.xarm7.joints
listlengths 8
8
| observation.xarm7.ee_pose
listlengths 7
7
| observation.xarm7.base_position
listlengths 3
3
| observation.xarm7.base_orientation
float32 0
0
| observation.xarm7.ee_error
listlengths 7
7
| observation.jaco.joints
listlengths 7
7
| observation.jaco.ee_pose
listlengths 7
7
| observation.jaco.base_position
listlengths 3
3
| observation.jaco.base_orientation
float32 0
0
| observation.jaco.ee_error
listlengths 7
7
| natural_language_instruction
stringclasses 426
values | observation.state
listlengths 7
7
| observation.joints
listlengths 8
8
| observation.ee_pose
listlengths 7
7
| timestamp
float32 0
79.3
| frame_index
int64 0
238
| episode_index
int64 0
2.5k
| index
int64 0
111k
| task_index
int64 0
425
|
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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move blue chip bag near rxbar blueberry
|
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move blue chip bag near rxbar blueberry
|
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[
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move blue chip bag near rxbar blueberry
|
[
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| 2
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[
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[
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|
[
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[
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[
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move blue chip bag near rxbar blueberry
|
[
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[
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[
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| 3
| 0
| 3
| 0
|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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[
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move blue chip bag near rxbar blueberry
|
[
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[
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[
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| 4
| 0
| 4
| 0
|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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move blue chip bag near rxbar blueberry
|
[
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[
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move blue chip bag near rxbar blueberry
|
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[
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move blue chip bag near rxbar blueberry
|
[
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[
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| 7
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|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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move blue chip bag near rxbar blueberry
|
[
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[
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[
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] | 2.666667
| 8
| 0
| 8
| 0
|
[
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[
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[
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[
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[
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move blue chip bag near rxbar blueberry
|
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move blue chip bag near rxbar blueberry
|
[
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| 10
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|
[
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[
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[
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[
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[
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move blue chip bag near rxbar blueberry
|
[
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[
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[
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] | 3.666667
| 11
| 0
| 11
| 0
|
[
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[
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[
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[
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[
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[
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[
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[
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move blue chip bag near rxbar blueberry
|
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[
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[
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move blue chip bag near rxbar blueberry
|
[
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| 13
| 0
| 13
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|
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[
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[
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[
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[
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[
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[
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move blue chip bag near rxbar blueberry
|
[
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[
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[
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] | 4.666667
| 14
| 0
| 14
| 0
|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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move blue chip bag near rxbar blueberry
|
[
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| 15
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[
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[
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[
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move blue chip bag near rxbar blueberry
|
[
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[
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| 16
| 0
| 16
| 0
|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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[
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move blue chip bag near rxbar blueberry
|
[
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[
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[
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| 17
| 0
| 17
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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move blue chip bag near rxbar blueberry
|
[
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[
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move blue chip bag near rxbar blueberry
|
[
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[
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| 19
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| 19
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|
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[
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[
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[
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[
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move blue chip bag near rxbar blueberry
|
[
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[
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[
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| 20
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| 20
| 0
|
[
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[
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[
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[
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[
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[
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[
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[
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move blue chip bag near rxbar blueberry
|
[
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move blue chip bag near rxbar blueberry
|
[
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[
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| 22
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| 22
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|
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|
[
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move blue chip bag near rxbar blueberry
|
[
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[
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| 23
| 0
| 23
| 0
|
[
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[
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move blue chip bag near rxbar blueberry
|
[
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| 24
| 0
| 24
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|
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move blue chip bag near rxbar blueberry
|
[
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[
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| 25
| 0
| 25
| 0
|
[
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[
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[
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[
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[
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[
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[
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[
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[
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move blue chip bag near rxbar blueberry
|
[
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[
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[
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| 26
| 0
| 26
| 0
|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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move blue chip bag near rxbar blueberry
|
[
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[
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[
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move blue chip bag near rxbar blueberry
|
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| 28
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[
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move blue chip bag near rxbar blueberry
|
[
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[
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| 29
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| 29
| 0
|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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move blue chip bag near rxbar blueberry
|
[
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[
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[
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] | 10
| 30
| 0
| 30
| 0
|
[
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move blue chip bag near rxbar blueberry
|
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| 31
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[
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move blue chip bag near rxbar blueberry
|
[
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[
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| 32
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| 32
| 0
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[
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[
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[
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[
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[
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move blue chip bag near rxbar blueberry
|
[
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[
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[
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| 33
| 0
| 33
| 0
|
[
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[
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[
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[
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[
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move blue chip bag near rxbar blueberry
|
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| 34
| 0
| 34
| 0
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pick coke can from middle drawer and place on counter
|
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| 35
| 1
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pick coke can from middle drawer and place on counter
|
[
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| 36
| 1
|
End of preview. Expand
in Data Studio
fractal20220817_data_train_42500_45000_augmented
Overview
- Codebase version:
v3.0 - Robots: images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e, xarm7
- FPS: 3
- Episodes: 2,500
- Frames: 110,676
- Splits:
train:0:2500
Data Layout
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/
- Project repository: https://github.com/GuanhuaJi/oxe-auge
Paper
Citation Policy
If you use OXE-AugE 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-AugE Dataset Citation (ours)
@misc{
ji2025oxeauge,
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},
journal={arXiv preprint arXiv:2512.13100},
year={2025}
}
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