Berkeley Autolab Ur5 Augmented
Collection
10 items
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Updated
Dataset Viewer
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.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.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.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
| observation.google_robot.joints
listlengths 8
8
| observation.google_robot.ee_pose
listlengths 7
7
| observation.google_robot.base_position
listlengths 3
3
| observation.google_robot.base_orientation
float32 0
0
| observation.google_robot.ee_error
listlengths 7
7
| observation.widowX.joints
listlengths 7
7
| observation.widowX.ee_pose
listlengths 7
7
| observation.widowX.base_position
listlengths 3
3
| observation.widowX.base_orientation
float32 0
0
| observation.widowX.ee_error
listlengths 7
7
| natural_language_instruction
stringclasses 4
values | observation.state
listlengths 15
15
| observation.joints
listlengths 7
7
| observation.ee_pose
listlengths 7
7
| timestamp
float64 0
25.6
| frame_index
int64 0
128
| episode_index
int64 0
99
| index
int64 0
9.93k
| task_index
int64 0
3
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sweep the green cloth to the left side of the table
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0.8377019762992859,
1.0239499807357788,
1.7007476091384888,
0
] |
[
0.3354753851890564,
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[
-0.05000000074505806,
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0
] | 0
|
[
-0.000004887580871582031,
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0.00006832927465438843,
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[
0.19568660855293274,
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
0,
0,
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] | 0
|
[
-0.000010639429092407227,
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[
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0
] |
[
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] |
[
-0.20000000298023224,
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0
] | 0
|
[
8.642673492431641e-7,
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-0.000012073665857315063,
0.0000131949782371521,
-4.172325134277344e-7,
-0.000014854595065116882
] |
sweep the green cloth to the left side of the table
|
[
-3.5440115928649902,
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0
] |
[
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0
] |
[
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0.9939019680023193,
0.015834437683224678,
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] | 0.4
| 2
| 0
| 2
| 0
|
[
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] |
[
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[
-0.10000000149011612,
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] | 0
|
[
-0.015073597431182861,
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[
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
-8.046627044677734e-7,
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0.00004082918167114258,
0.000007197260856628418,
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[
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.0000055730342864990234,
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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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] |
[
-0.05000000074505806,
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0
] | 0
|
[
-0.000004887580871582031,
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0.00006830692291259766,
-0.00009445101022720337,
0.0000029206275939941406,
0.00018369778990745544
] |
[
0.21409806609153748,
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0
] |
[
0.3916136622428894,
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0.018494589254260063
] |
[
0,
0,
0
] | 0
|
[
0.0000014007091522216797,
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-0.00004917755722999573,
-0.000013470649719238281,
0.000003516674041748047,
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] |
[
-3.1100354194641113,
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-2.049999952316284,
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0
] |
[
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0.09822089225053787,
0.9940282702445984,
0.018368467688560486
] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.000008940696716308594,
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0.000055458396673202515,
-0.00008255988359451294,
0.0000033974647521972656,
0.00012344494462013245
] |
[
-0.07567148655653,
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1.2759095430374146,
0.11205288767814636,
0
] |
[
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0.14547482132911682,
0.04392198845744133,
0.09812784194946289,
0.9940319657325745,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.0000011622905731201172,
6.575137376785278e-7,
0.0000011473894119262695,
-0.000013690441846847534,
0.00001049041748046875,
-2.980232238769531e-7,
-0.000008923932909965515
] |
sweep the green cloth to the left side of the table
|
[
-3.5568485260009766,
-1.812705397605896,
2.3033242225646973,
-2.133458375930786,
-1.5083225965499878,
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0,
0
] |
[
-3.5568485260009766,
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2.3033242225646973,
-2.133458375930786,
-1.5083225965499878,
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0
] |
[
0.3916150629520416,
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0.14547596871852875,
0.09813833236694336,
0.9940316677093506,
0.01849191263318062,
0.04390829801559448
] | 0.6
| 3
| 0
| 3
| 0
|
[
-0.1516057550907135,
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-2.094399929046631,
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0
] |
[
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] |
[
-0.10000000149011612,
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] | 0
|
[
-0.01447993516921997,
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0.0009304806590080261,
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0.09022379666566849
] |
[
-0.035239189863204956,
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0
] |
[
0.3984699249267578,
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0.0989815890789032,
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] |
[
0,
0,
0
] | 0
|
[
-6.258487701416016e-7,
2.7567148208618164e-7,
-0.0000019818544387817383,
0.000039421021938323975,
0.000005580484867095947,
-0.0000019669532775878906,
-0.000002343207597732544
] |
[
-0.4038130044937134,
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0.35187768936157227,
-0.39353910088539124,
0
] |
[
0.39847540855407715,
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0.1352211982011795,
0.03616498038172722,
0.09900893270969391,
0.9942049980163574,
0.021113764494657516
] |
[
0,
0,
0
] | 0
|
[
-0.000006109476089477539,
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0.00022995471954345703,
-0.000021763145923614502,
-0.000009715557098388672,
0.00016201473772525787
] |
[
0.025050001218914986,
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-2.7793686389923096,
0.10325410962104797,
2.7982895374298096,
-2.2986338138580322,
0
] |
[
0.3984678089618683,
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0.1352168172597885,
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0.09898283332586288,
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] |
[
0,
0,
0
] | 0
|
[
0.0000014901161193847656,
2.3655593395233154e-7,
-0.0000031441450119018555,
0.00002401694655418396,
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-0.000001430511474609375,
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] |
[
0.6487640738487244,
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1.7956033945083618,
0
] |
[
0.34847408533096313,
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0.1352117955684662,
0.036327704787254333,
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0.02109532430768013
] |
[
-0.05000000074505806,
0.10000000149011612,
0
] | 0
|
[
-0.000004798173904418945,
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0.00006723031401634216,
-0.00009515881538391113,
0.000003159046173095703,
0.00018045492470264435
] |
[
0.23724433779716492,
2.5333425998687744,
5.1606974601745605,
0.013137394562363625,
-0.5222242474555969,
0.27817320823669434,
0
] |
[
0.3984677195549011,
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0.13521206378936768,
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0.09900276362895966,
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] |
[
0,
0,
0
] | 0
|
[
0.0000015795230865478516,
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0.0000016093254089355469,
-0.00005112960934638977,
-0.000015594065189361572,
0.000003337860107421875,
0.000004077330231666565
] |
[
-3.2242441177368164,
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-0.9280814528465271,
-2.049999952316284,
-1.928446888923645,
0.8408825993537903,
-1.5897289514541626,
0
] |
[
0.3984765410423279,
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0.28521019220352173,
0.03635144978761673,
0.09907099604606628,
0.9941911101341248,
0.021154748275876045
] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.000007241964340209961,
-0.0000047478824853897095,
0.0000034868717193603516,
0.00004348531365394592,
-0.00008382648229598999,
0.000004172325134277344,
0.00012103095650672913
] |
[
-0.12876521050930023,
-0.40905508399009705,
0.6704010367393494,
0.047254323959350586,
1.2381962537765503,
0.055857278406620026,
0
] |
[
0.19846785068511963,
-0.018468737602233887,
0.13521282374858856,
0.03640928864479065,
0.09897986054420471,
0.9941954612731934,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.000001430511474609375,
-7.078051567077637e-8,
8.493661880493164e-7,
-0.000014353543519973755,
0.000007309019565582275,
-1.7881393432617188e-7,
-0.000002209097146987915
] |
sweep the green cloth to the left side of the table
|
[
-3.574057102203369,
-1.7674201726913452,
2.2945353984832764,
-2.1528704166412354,
-1.5067895650863647,
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0.38297227025032043,
-0.038487836718559265,
0.062361352145671844,
0.7724162340164185,
0.6337746381759644,
0.039720043540000916,
0.011190369725227356,
0,
0
] |
[
-3.574057102203369,
-1.7674201726913452,
2.2945353984832764,
-2.1528704166412354,
-1.5067895650863647,
2.9093642234802246,
0
] |
[
0.39846929907798767,
-0.018468808382749557,
0.1352136731147766,
0.0989871695637703,
0.994195282459259,
0.021275779232382774,
0.036394935101270676
] | 0.8
| 4
| 0
| 4
| 0
|
[
-0.192874014377594,
0.8708850741386414,
0.6665357947349548,
-2.094399929046631,
-0.742499053478241,
0.7540358901023865,
-1.9340711832046509,
0
] |
[
0.31895607709884644,
0.1254633367061615,
0.07101679593324661,
-0.12507469952106476,
0.09709426760673523,
0.9859215617179871,
-0.053736813366413116
] |
[
-0.10000000149011612,
0.15000000596046448,
-0.05000000074505806
] | 0
|
[
-0.01377028226852417,
-0.005257166922092438,
0.002423994243144989,
0.15433242917060852,
0.002076670527458191,
0.008449554443359375,
0.07687032222747803
] |
[
-0.04541041702032089,
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-0.04587039723992348,
0.6607339382171631,
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0.6976047158241272,
0.05934154614806175,
0
] |
[
0.405186265707016,
-0.029793988913297653,
0.1234428733587265,
0.029219331219792366,
0.09916721284389496,
0.9943726658821106,
0.02313338778913021
] |
[
0,
0,
0
] | 0
|
[
-4.76837158203125e-7,
1.5832483768463135e-7,
-0.000002086162567138672,
0.00003839470446109772,
0.000003725290298461914,
-0.0000015497207641601562,
1.2293457984924316e-7
] |
[
-0.4747718274593353,
-1.27890145778656,
-0.0428786464035511,
2.487910032272339,
0.23788221180438995,
0.33623233437538147,
-0.365924596786499,
0
] |
[
0.40519240498542786,
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0.0991896539926529,
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] |
[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
0.0000015795230865478516,
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[
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] |
[
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[
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] | 0
|
[
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[
0.2624954283237457,
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0
] |
[
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0.099188432097435,
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[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
0,
0,
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] | 0
|
[
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[
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0
] |
[
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[
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0
] | 0
|
[
0.0000016391277313232422,
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-0.000014133751392364502,
0.000004090368747711182,
-1.1920928955078125e-7,
0.000004390254616737366
] |
sweep the green cloth to the left side of the table
|
[
-3.593506097793579,
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2.286656379699707,
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0,
0
] |
[
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0
] |
[
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0.09917093813419342,
0.9943711161613464,
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] | 1
| 5
| 0
| 5
| 0
|
[
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0
] |
[
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[
-0.10000000149011612,
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] | 0
|
[
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[
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
-3.2782554626464844e-7,
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0.000037649646401405334,
0.000001773238182067871,
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] |
[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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] |
[
-0.05000000074505806,
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0
] | 0
|
[
-0.0000045299530029296875,
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0.000064849853515625,
-0.00009658187627792358,
0.000003874301910400391,
0.0001738276332616806
] |
[
0.28800860047340393,
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5.100559234619141,
0.0072261071763932705,
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0.3393251597881317,
0
] |
[
0.4114639461040497,
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0.09911119192838669,
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] |
[
0,
0,
0
] | 0
|
[
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0.000015167519450187683
] |
[
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0.7983279824256897,
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0
] |
[
0.41147178411483765,
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0.09917490184307098,
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] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.000005900859832763672,
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0.000003069639205932617,
0.00003127381205558777,
-0.00008289515972137451,
0.000004708766937255859,
0.00011576898396015167
] |
[
-0.23629692196846008,
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0.6671123504638672,
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1.1521493196487427,
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0
] |
[
0.21146409213542938,
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0.1113382875919342,
0.02267821691930294,
0.09909091144800186,
0.9945161938667297,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.0000017881393432617188,
-0.0000014193356037139893,
7.450580596923828e-8,
-0.000013256445527076721,
0.0000010952353477478027,
-5.960464477539063e-8,
0.000010438263416290283
] |
sweep the green cloth to the left side of the table
|
[
-3.6136133670806885,
-1.6709941625595093,
2.2784066200256348,
-2.2025530338287354,
-1.508478045463562,
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0.772621750831604,
0.6340388655662537,
0.03239568695425987,
-0.0009351694607175887,
0,
0
] |
[
-3.6136133670806885,
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2.2784066200256348,
-2.2025530338287354,
-1.508478045463562,
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0
] |
[
0.4114658832550049,
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0.11133836209774017,
0.09909200668334961,
0.994516134262085,
0.02459152601659298,
0.022664960473775864
] | 1.2
| 6
| 0
| 6
| 0
|
[
-0.2640204429626465,
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-2.094399929046631,
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0
] |
[
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] |
[
-0.10000000149011612,
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] | 0
|
[
-0.012082397937774658,
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0.0032768025994300842,
0.007151424884796143,
0.05294991657137871
] |
[
-0.0744558647274971,
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0
] |
[
0.41646626591682434,
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0.016813404858112335,
0.09899544715881348,
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0.025414669886231422
] |
[
0,
0,
0
] | 0
|
[
-2.086162567138672e-7,
-1.0803341865539551e-7,
-0.0000023543834686279297,
0.00003770552575588226,
-2.2351741790771484e-8,
-7.748603820800781e-7,
0.0000059194862842559814
] |
[
-0.5975473523139954,
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2.4366908073425293,
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0.3161260485649109,
-0.27268439531326294,
0
] |
[
0.4164726138114929,
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0.09837833046913147,
0.01665148138999939,
0.09900707751512527,
0.9946262836456299,
0.025275781750679016
] |
[
0,
0,
0
] | 0
|
[
-0.000006556510925292969,
-9.98377799987793e-7,
-0.0000029280781745910645,
0.00019962899386882782,
-0.000011652708053588867,
-0.000005900859832763672,
0.0001448076218366623
] |
[
-0.0562601312994957,
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-2.6788620948791504,
0.1892290711402893,
2.8263297080993652,
-2.4517061710357666,
0
] |
[
0.4164644777774811,
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0.016817983239889145,
0.09899888932704926,
0.9946215152740479,
0.02538561262190342
] |
[
0,
0,
0
] | 0
|
[
0.0000015795230865478516,
-4.842877388000488e-7,
-0.000004090368747711182,
0.00003312714397907257,
-0.00000346451997756958,
-0.0000011324882507324219,
0.00003497675061225891
] |
[
0.6633255481719971,
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2.0708601474761963,
0.8650303483009338,
0.9191023707389832,
1.9141407012939453,
0
] |
[
0.3664703965187073,
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0.09837396442890167,
0.01678784377872944,
0.0990925133228302,
0.9946161508560181,
0.02524934522807598
] |
[
-0.05000000074505806,
0.10000000149011612,
0
] | 0
|
[
-0.000004351139068603516,
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0.0000014379620552062988,
0.00006326660513877869,
-0.0000970885157585144,
0.000004231929779052734,
0.00017124414443969727
] |
[
0.31136277318000793,
2.4089677333831787,
5.072955131530762,
0.00692451698705554,
-0.5313974618911743,
0.3632218837738037,
0
] |
[
0.4164640009403229,
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0.09837423264980316,
0.016907690092921257,
0.09901590645313263,
0.9946178793907166,
0.02540111541748047
] |
[
0,
0,
0
] | 0
|
[
0.0000020563602447509766,
-0.0000016354024410247803,
0.000001169741153717041,
-0.00005657970905303955,
-0.000020481646060943604,
0.0000025033950805664062,
0.000019473955035209656
] |
[
-3.3745946884155273,
-1.0119186639785767,
-0.8162155151367188,
-1.9509871006011963,
-1.9524587392807007,
0.797705888748169,
-1.6002726554870605,
0
] |
[
0.41647160053253174,
-0.05341535806655884,
0.2483724057674408,
0.016824141144752502,
0.09907742589712143,
0.9946156144142151,
0.025306886062026024
] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.000005543231964111328,
-0.000004325062036514282,
0.000002995133399963379,
0.000026969239115715027,
-0.00008200109004974365,
0.00000476837158203125,
0.00011370331048965454
] |
[
-0.282337486743927,
-0.22429190576076508,
0.6656898856163025,
0.06276459991931915,
1.1062512397766113,
-0.11140376329421997,
0
] |
[
0.21646419167518616,
-0.053417738527059555,
0.09837578237056732,
0.01686262898147106,
0.0989968553185463,
0.9946204423904419,
0.025405168533325195
] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.000001862645149230957,
-0.000001944601535797119,
-3.7997961044311523e-7,
-0.000011518597602844238,
-0.000001430511474609375,
-5.960464477539063e-8,
0.000015420839190483093
] |
sweep the green cloth to the left side of the table
|
[
-3.632404088973999,
-1.624564528465271,
2.2733654975891113,
-2.2313592433929443,
-1.5109328031539917,
2.849541664123535,
0.3999300003051758,
-0.07239175587892532,
0.025790447369217873,
0.7725794315338135,
0.6342347264289856,
0.028900086879730225,
-0.005668145138770342,
0,
0
] |
[
-3.632404088973999,
-1.624564528465271,
2.2733654975891113,
-2.2313592433929443,
-1.5109328031539917,
2.849541664123535,
0
] |
[
0.4164660573005676,
-0.05341968312859535,
0.09837540239095688,
0.09899542480707169,
0.9946203827857971,
0.02542058937251568,
0.016851110383868217
] | 1.4
| 7
| 0
| 7
| 0
|
[
-0.2842308580875397,
0.9488685727119446,
0.6056946516036987,
-2.094399929046631,
-0.8357095122337341,
0.6357953548431396,
-2.001492738723755,
0
] |
[
0.33168837428092957,
0.08960873633623123,
0.032253917306661606,
-0.11763723194599152,
0.09559072554111481,
0.9882808923721313,
-0.01802302524447441
] |
[
-0.10000000149011612,
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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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[
0,
0,
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] | 0
|
[
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[
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[
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[
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|
[
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0.000019047409296035767
] |
sweep the green cloth to the left side of the table
|
[
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0
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[
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[
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] | 1.6
| 8
| 0
| 8
| 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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[
0,
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0
] | 0
|
[
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[
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[
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[
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] | 0
|
[
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[
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] |
[
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[
0,
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0
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|
[
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[
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0
] |
[
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[
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0
] | 0
|
[
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] |
[
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0
] |
[
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[
0,
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0
] | 0
|
[
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] |
[
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0
] |
[
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] |
[
0,
0,
0.15000000596046448
] | 0
|
[
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[
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0
] |
[
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.000001862645149230957,
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-0.000006079673767089844,
-0.000004857778549194336,
-5.960464477539063e-8,
0.000021861866116523743
] |
sweep the green cloth to the left side of the table
|
[
-3.660189628601074,
-1.5417712926864624,
2.2747063636779785,
-2.304064989089966,
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0,
0
] |
[
-3.660189628601074,
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2.8213469982147217,
0
] |
[
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0.07219520211219788,
0.09896845370531082,
0.994684636592865,
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] | 1.8
| 9
| 0
| 9
| 0
|
[
-0.28983041644096375,
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-2.094399929046631,
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0
] |
[
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[
-0.10000000149011612,
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] | 0
|
[
-0.009485900402069092,
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] |
[
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0
] |
[
0.42750436067581177,
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] |
[
0,
0,
0
] | 0
|
[
-1.4901161193847656e-7,
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] |
[
-0.6877761483192444,
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0
] |
[
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0.09905233979225159,
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0.024355372413992882
] |
[
0,
0,
0
] | 0
|
[
-0.000005543231964111328,
-6.854534149169922e-7,
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0.00015237368643283844,
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] |
[
-0.17185916006565094,
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-2.605928421020508,
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0
] |
[
0.4275030195713043,
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] |
[
0,
0,
0
] | 0
|
[
0.0000011920928955078125,
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0.00004880595952272415,
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-0.0000011920928955078125,
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] |
[
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2.069201946258545,
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1.9460147619247437,
0
] |
[
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] |
[
-0.05000000074505806,
0.10000000149011612,
0
] | 0
|
[
-0.0000037848949432373047,
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0.00005428586155176163,
-0.00009798258543014526,
0.0000050067901611328125,
0.00016774982213974
] |
[
0.35601678490638733,
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0.4008890986442566,
0
] |
[
0.4275020658969879,
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0.09906992316246033,
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] |
[
0,
0,
0
] | 0
|
[
0.0000021457672119140625,
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4.470348358154297e-7,
-0.00005128607153892517,
-0.0000222623348236084,
0.000002086162567138672,
0.00003059953451156616
] |
[
-3.4198215007781982,
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-1.8459423780441284,
-1.9114961624145508,
0.8103394508361816,
-1.5984764099121094,
0
] |
[
0.4275090992450714,
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0.0991290733218193,
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0.02435535378754139
] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.000004887580871582031,
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0.0000026673078536987305,
0.000021826475858688354,
-0.00008141249418258667,
0.000005125999450683594,
0.00011095963418483734
] |
[
-0.36566272377967834,
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0.6737726926803589,
0.06561574339866638,
0.9509316086769104,
-0.2050447165966034,
0
] |
[
0.22750240564346313,
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0.0118297403678298,
0.09905357658863068,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.0000018030405044555664,
-0.000002779066562652588,
-0.0000019259750843048096,
-0.000002771615982055664,
-0.0000059157609939575195,
5.960464477539063e-8,
0.000023555010557174683
] |
sweep the green cloth to the left side of the table
|
[
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0,
0
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[
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[
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| 10
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| 10
| 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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[
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[
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|
[
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7.394701242446899e-7,
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1.1920928955078125e-7,
0.000024881213903427124
] |
sweep the green cloth to the left side of the table
|
[
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[
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[
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] | 2.2
| 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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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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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
0,
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] | 0
|
[
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[
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0
] |
[
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[
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0
] | 0
|
[
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0.000004416331648826599,
-0.000007674098014831543,
1.1920928955078125e-7,
0.00002617575228214264
] |
sweep the green cloth to the left side of the table
|
[
-3.6837124824523926,
-1.425078272819519,
2.2840821743011475,
-2.4318830966949463,
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0
] |
[
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0
] |
[
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] | 2.4
| 12
| 0
| 12
| 0
|
[
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] |
[
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[
-0.10000000149011612,
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] | 0
|
[
-0.006413370370864868,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-2.384185791015625e-7,
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[
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] |
[
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[
0,
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] | 0
|
[
-0.000004827976226806641,
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[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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[
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[
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] | 0
|
[
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[
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0
] |
[
0.4369215667247772,
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] |
[
0,
0,
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] | 0
|
[
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[
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] |
[
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[
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|
[
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0.000008266419172286987,
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1.7881393432617188e-7,
0.000027427449822425842
] |
sweep the green cloth to the left side of the table
|
[
-3.690946340560913,
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0
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[
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0
] |
[
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0.9947928786277771,
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] | 2.6
| 13
| 0
| 13
| 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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0
] | 0
|
[
-2.384185791015625e-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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] | 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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[
0,
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] | 0
|
[
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[
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0
] |
[
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
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0.000012014992535114288,
-0.000009275972843170166,
2.384185791015625e-7,
0.00002855248749256134
] |
sweep the green cloth to the left side of the table
|
[
-3.6970670223236084,
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-2.512705087661743,
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0
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[
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0
] |
[
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] | 2.8
| 14
| 0
| 14
| 0
|
[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
0,
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0
] | 0
|
[
-2.384185791015625e-7,
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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.000004470348358154297,
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[
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0
] |
[
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[
0,
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] | 0
|
[
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[
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] |
[
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[
-0.05000000074505806,
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0
] | 0
|
[
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] |
[
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] |
[
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[
0,
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] | 0
|
[
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[
-3.4561967849731445,
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0
] |
[
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] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.0000036954879760742188,
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[
-0.44064393639564514,
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0
] |
[
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[
-0.20000000298023224,
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0
] | 0
|
[
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0.00001531839370727539,
-0.000009924173355102539,
2.384185791015625e-7,
0.00002940557897090912
] |
sweep the green cloth to the left side of the table
|
[
-3.701378583908081,
-1.2990459203720093,
2.2748498916625977,
-2.549989938735962,
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0,
0
] |
[
-3.701378583908081,
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0
] |
[
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0.09825471043586731,
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0.0178232304751873,
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] | 3
| 15
| 0
| 15
| 0
|
[
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0
] |
[
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[
-0.10000000149011612,
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] | 0
|
[
-0.002084583044052124,
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[
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0
] |
[
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] |
[
0,
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0
] | 0
|
[
-2.384185791015625e-7,
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[
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.000004351139068603516,
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[
-0.2977733612060547,
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] |
[
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[
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] | 0
|
[
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[
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2.028886318206787,
1.1087206602096558,
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1.9426707029342651,
0
] |
[
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[
-0.05000000074505806,
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] | 0
|
[
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5.140900611877441e-7,
0.00003792252391576767,
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0.00016214698553085327
] |
[
0.4051765501499176,
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[
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[
0,
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0
] | 0
|
[
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[
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[
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[
0,
0,
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] | 0
|
[
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[
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] |
[
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[
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0
] | 0
|
[
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0.00001852121204137802,
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3.5762786865234375e-7,
0.000030269846320152283
] |
sweep the green cloth to the left side of the table
|
[
-3.705115795135498,
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0
] |
[
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] |
[
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] | 3.2
| 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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[
0,
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0
] | 0
|
[
-2.086162567138672e-7,
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[
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] |
[
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[
0,
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] | 0
|
[
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[
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0
] |
[
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[
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] | 0
|
[
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] |
[
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] |
[
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[
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] | 0
|
[
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] |
[
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0
] |
[
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] |
[
0,
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0
] | 0
|
[
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] |
[
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0
] |
[
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] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.0000030994415283203125,
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[
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0
] |
[
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0.09601011872291565,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
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0.00002151820808649063,
-0.000011123716831207275,
3.5762786865234375e-7,
0.00003117509186267853
] |
sweep the green cloth to the left side of the table
|
[
-3.708660840988159,
-1.2112582921981812,
2.256051540374756,
-2.6204912662506104,
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0.7704787254333496,
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0,
0
] |
[
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0
] |
[
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0.09599899500608444,
0.9952067732810974,
0.01536000706255436,
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] | 3.4
| 17
| 0
| 17
| 0
|
[
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0
] |
[
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[
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] | 0
|
[
-0.00000762939453125,
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[
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-1.7881393432617188e-7,
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] |
[
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0
] |
[
0.45963743329048157,
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0.010285786353051662,
0.0950496569275856,
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] |
[
0,
0,
0
] | 0
|
[
-0.0000041425228118896484,
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6.92903995513916e-7,
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] |
[
-0.3108616769313812,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
-0.05000000074505806,
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0
] | 0
|
[
-0.000002473592758178711,
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2.980232238769531e-7,
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0.000006735324859619141,
0.00016049668192863464
] |
[
0.41418394446372986,
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0
] |
[
0.4596303105354309,
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] |
[
0,
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0
] | 0
|
[
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0.0000022649765014648438,
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] |
[
-3.4777956008911133,
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-1.5319476127624512,
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0
] |
[
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] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.0000027418136596679688,
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0.0000015124678611755371,
-0.000007043592631816864,
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0.0000059604644775390625,
0.00010476727038621902
] |
[
-0.46407589316368103,
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0
] |
[
0.25963208079338074,
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0.010373497381806374,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.0000011920928955078125,
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0.00002398807555437088,
-0.000011473894119262695,
3.5762786865234375e-7,
0.00003179628401994705
] |
sweep the green cloth to the left side of the table
|
[
-3.7096548080444336,
-1.1679919958114624,
2.244149684906006,
-2.6522796154022217,
-1.535539984703064,
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0.7698501944541931,
0.6379864811897278,
0.017210934311151505,
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0,
0
] |
[
-3.7096548080444336,
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2.244149684906006,
-2.6522796154022217,
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2.764042854309082,
0
] |
[
0.4596332907676697,
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0.09505034983158112,
0.9953128099441528,
0.014480973593890667,
0.010397485457360744
] | 3.6
| 18
| 0
| 18
| 0
|
[
0.2651638090610504,
1.1912156343460083,
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-2.031885862350464,
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-1.631052851676941,
0
] |
[
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] |
[
-0.10000000149011612,
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] | 0
|
[
-0.000007450580596923828,
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0.00021013803780078888,
-0.00007837265729904175,
0.000004410743713378906,
0.00007585715502500534
] |
[
-0.25371289253234863,
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0
] |
[
0.4670966863632202,
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0.010117887519299984,
0.09397836029529572,
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] |
[
0,
0,
0
] | 0
|
[
-8.940696716308594e-8,
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0.00006073806434869766,
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-1.7881393432617188e-7,
0.000020959414541721344
] |
[
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0
] |
[
0.4671006500720978,
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
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0
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|
[
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[
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[
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[
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] | 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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[
0,
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] | 0
|
[
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[
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[
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[
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|
[
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0.000023834407329559326,
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4.172325134277344e-7,
0.00003000069409608841
] |
sweep the green cloth to the left side of the table
|
[
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0
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[
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] |
[
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] | 3.8
| 19
| 0
| 19
| 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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[
0,
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0
] | 0
|
[
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[
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[
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[
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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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[
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[
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] | 0
|
[
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[
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] |
[
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[
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0
] | 0
|
[
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0.0000205114483833313,
-0.00000903010368347168,
5.364418029785156e-7,
0.000025112181901931763
] |
sweep the green cloth to the left side of the table
|
[
-3.6815803050994873,
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0
] |
[
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0
] |
[
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] | 4
| 20
| 0
| 20
| 0
|
[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
0,
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0
] | 0
|
[
4.76837158203125e-7,
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] |
[
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.000003725290298461914,
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] |
[
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
-0.05000000074505806,
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0
] | 0
|
[
-0.0000017881393432617188,
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] |
[
0.3739624619483948,
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0
] |
[
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] |
[
0,
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0
] | 0
|
[
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] |
[
-3.475869655609131,
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0
] |
[
0.48746365308761597,
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] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-8.046627044677734e-7,
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7.227063179016113e-7,
-0.00004615169018507004,
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0.00000667572021484375,
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] |
[
-0.4032318890094757,
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0
] |
[
0.2874608039855957,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.0000020265579223632812,
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0.00001625576987862587,
-0.000006794929504394531,
4.76837158203125e-7,
0.000018748047295957804
] |
sweep the green cloth to the left side of the table
|
[
-3.6595911979675293,
-1.031567931175232,
2.174117088317871,
-2.7244913578033447,
-1.5648282766342163,
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0.47094300389289856,
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0.7673635482788086,
0.641182005405426,
0.004535933956503868,
0.004264161456376314,
0,
0
] |
[
-3.6595911979675293,
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2.174117088317871,
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-1.5648282766342163,
2.8062362670898438,
0
] |
[
0.4874628484249115,
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0.09117581695318222,
0.9958147406578064,
0.0004101194499526173,
0.006308163981884718
] | 4.2
| 21
| 0
| 21
| 0
|
[
0.20681427419185638,
1.2726494073867798,
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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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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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0.000014524441212415695,
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4.76837158203125e-7,
0.000013452954590320587
] |
sweep the green cloth to the left side of the table
|
[
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[
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[
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| 22
| 0
| 22
| 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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[
0,
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0
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|
[
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[
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[
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[
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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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] | 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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[
0,
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] | 0
|
[
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[
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0
] |
[
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[
-0.20000000298023224,
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0
] | 0
|
[
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0.000015407800674438477,
-0.000004507601261138916,
4.172325134277344e-7,
0.000009906478226184845
] |
sweep the green cloth to the left side of the table
|
[
-3.6417458057403564,
-0.9651272892951965,
2.151906967163086,
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0,
0
] |
[
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0
] |
[
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0.08806716650724411,
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-0.008712828159332275,
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] | 4.6
| 23
| 0
| 23
| 0
|
[
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] |
[
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[
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] | 0
|
[
-0.000006079673767089844,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
6.854534149169922e-7,
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2.980232238769531e-7,
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[
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] |
[
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[
0,
0,
0
] | 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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] | 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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0
] | 0
|
[
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0.000015025027096271515,
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2.980232238769531e-7,
0.000004541128873825073
] |
sweep the green cloth to the left side of the table
|
[
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0
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[
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[
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| 24
| 0
| 24
| 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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] | 0
|
[
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[
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] |
[
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[
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0
] | 0
|
[
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0.0000153806759044528,
-7.674098014831543e-7,
0,
-0.0000030295923352241516
] |
sweep the green cloth to the left side of the table
|
[
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[
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[
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] | 5
| 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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[
0,
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] | 0
|
[
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0,
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[
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[
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[
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0
] | 0
|
[
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[
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[
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[
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] | 0
|
[
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[
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[
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[
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] | 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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] | 0
|
[
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[
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[
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[
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|
[
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0.000016523059457540512,
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-3.5762786865234375e-7,
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] |
sweep the green cloth to the left side of the table
|
[
-3.5798773765563965,
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0
] |
[
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] |
[
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] | 5.2
| 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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] | 0
|
[
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[
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[
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[
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] | 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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] | 0
|
[
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[
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[
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0.001788468798622489,
0.08645196259021759,
0.9961339235305786,
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] |
[
0,
0,
0
] | 0
|
[
0.000005125999450683594,
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-1.1920928955078125e-7,
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] |
[
-3.410999298095703,
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0
] |
[
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[
0,
0,
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] | 0
|
[
9.238719940185547e-7,
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[
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0
] |
[
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[
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0
] | 0
|
[
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0.00001850223634392023,
0.000003889203071594238,
-6.556510925292969e-7,
-0.00001812633126974106
] |
sweep the green cloth to the left side of the table
|
[
-3.5543699264526367,
-0.9370034337043762,
2.157163143157959,
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0,
0
] |
[
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0
] |
[
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0.08644542843103409,
0.9961338043212891,
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] | 5.4
| 27
| 0
| 27
| 0
|
[
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0
] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
6.258487701416016e-7,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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0.000040321145206689835,
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5.038455128669739e-7
] |
[
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0
] |
[
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[
-0.05000000074505806,
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0
] | 0
|
[
-0.0000012218952178955078,
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0.000014088582247495651,
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0.000010132789611816406,
0.00013665761798620224
] |
[
0.24520036578178406,
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0
] |
[
0.4994795024394989,
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] |
[
0,
0,
0
] | 0
|
[
0.0000050067901611328125,
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] |
[
-3.3934881687164307,
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0
] |
[
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] |
[
0,
0,
0.15000000596046448
] | 0
|
[
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-0.00000346451997756958,
-5.587935447692871e-8,
-0.0000822057481855154,
-0.00006125867366790771,
0.000006735324859619141,
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] |
[
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0.4316171705722809,
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0
] |
[
0.2994825839996338,
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0.08647871017456055,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.0000019371509552001953,
-7.227063179016113e-7,
-0.000007167458534240723,
0.000021145911887288094,
0.00000607222318649292,
-9.5367431640625e-7,
-0.00002539902925491333
] |
sweep the green cloth to the left side of the table
|
[
-3.529664993286133,
-0.9356597065925598,
2.1625866889953613,
-2.811464548110962,
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0.7642073631286621,
0.6447756886482239,
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0,
0
] |
[
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2.1625866889953613,
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2.926532506942749,
0
] |
[
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-0.1162296012043953,
0.08648478239774704,
0.9961280822753906,
-0.015614121221005917,
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] | 5.6
| 28
| 0
| 28
| 0
|
[
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0
] |
[
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[
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] | 0
|
[
0.000001817941665649414,
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] |
[
-0.03840329125523567,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
5.662441253662109e-7,
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0.00005310121923685074,
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-4.172325134277344e-7,
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] |
[
-0.4207988679409027,
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1.8703973293304443,
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0
] |
[
0.4986460506916046,
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0.0020138428080826998,
0.08649386465549469,
0.9961287379264832,
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] |
[
0,
0,
0
] | 0
|
[
-0.000003606081008911133,
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-1.7881393432617188e-7,
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[
-0.040328726172447205,
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-2.160348415374756,
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3.062299966812134,
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0
] |
[
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0.0020674453116953373,
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[
0,
0,
0
] | 0
|
[
0.0000022351741790771484,
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0.00004102778621017933,
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-3.5762786865234375e-7,
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] |
[
0.2453414350748062,
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0
] |
[
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[
-0.05000000074505806,
0.10000000149011612,
0
] | 0
|
[
-0.0000011622905731201172,
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0.000013788929209113121,
-0.00009047240018844604,
0.000009953975677490234,
0.00013463757932186127
] |
[
0.22012536227703094,
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0
] |
[
0.4986375570297241,
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0.002194194355979562,
0.08650416880846024,
0.9961290955543518,
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] |
[
0,
0,
0
] | 0
|
[
0.000004887580871582031,
-6.817281246185303e-7,
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-0.00008572125807404518,
-0.0000037103891372680664,
-5.364418029785156e-7,
-0.00006791390478610992
] |
[
-3.3765413761138916,
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-1.3171125650405884,
-1.8904246091842651,
0.6925501823425293,
-1.2272108793258667,
0
] |
[
0.49864131212234497,
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0.033097632229328156,
0.002192807151004672,
0.08656111359596252,
0.9961220026016235,
-0.015600276179611683
] |
[
0,
0,
0.15000000596046448
] | 0
|
[
0.0000011324882507324219,
-0.0000033937394618988037,
-6.332993507385254e-8,
-0.00008433405309915543,
-0.000060655176639556885,
0.000006556510925292969,
0.00007212627679109573
] |
[
-0.1632421910762787,
0.6946898102760315,
0.446327269077301,
-0.0743451863527298,
0.4242847263813019,
0.07765445113182068,
0
] |
[
0.2986406683921814,
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0.0020843534730374813,
0.08649224787950516,
0.9961298108100891,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.0000017881393432617188,
-3.3527612686157227e-7,
-0.000007264316082000732,
0.000024119624868035316,
0.000008210539817810059,
-0.0000012516975402832031,
-0.00003252364695072174
] |
sweep the green cloth to the left side of the table
|
[
-3.505188226699829,
-0.9362476468086243,
2.168513298034668,
-2.8156144618988037,
-1.5995162725448608,
2.9510555267333984,
0.4851595461368561,
-0.07403324544429779,
-0.189297616481781,
0.7642202377319336,
0.6447634696960449,
-0.009505234658718109,
0.012535038404166698,
0,
0
] |
[
-3.505188226699829,
-0.9362476468086243,
2.168513298034668,
-2.8156144618988037,
-1.5995162725448608,
2.9510555267333984,
0
] |
[
0.4986424446105957,
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-0.1169024333357811,
0.08650045841932297,
0.9961285591125488,
-0.015528149902820587,
0.0021084730979055166
] | 5.8
| 29
| 0
| 29
| 0
|
[
0.2045561522245407,
1.3243658542633057,
0.08421169221401215,
-1.8027960062026978,
-1.39033842086792,
0.11316671222448349,
-1.353525996208191,
0
] |
[
0.3978734314441681,
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0.0021253072191029787,
0.08649500459432602,
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-0.014895947650074959
] |
[
-0.10000000149011612,
0.15000000596046448,
-0.05000000074505806
] | 0
|
[
0.0000022649765014648438,
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-0.00006406335160136223,
-0.0000649765133857727,
0.000006377696990966797,
0.000040683895349502563
] |
[
-0.012368367984890938,
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1.0995320081710815,
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0.30224400758743286,
0.08897921442985535,
0
] |
[
0.4978751540184021,
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-0.11705730110406876,
0.0020071659237146378,
0.08642639219760895,
0.9961456060409546,
-0.014846810139715672
] |
[
0,
0,
0
] | 0
|
[
5.364418029785156e-7,
4.470348358154297e-8,
-0.000004641711711883545,
0.00005407794378697872,
0.000003635883331298828,
-5.960464477539062e-7,
-0.000008453615009784698
] |
[
-0.3957330584526062,
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1.87679922580719,
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0.15420317649841309,
0.18063832819461823,
0
] |
[
0.497879296541214,
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0.0019666943699121475,
0.08642247319221497,
0.9961453080177307,
-0.014891518279910088
] |
[
0,
0,
0
] | 0
|
[
-0.000003606081008911133,
-2.5331974029541016e-7,
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0.00009454949758946896,
0.000007554888725280762,
-2.980232238769531e-7,
0.00003625452518463135
] |
[
-0.014465011656284332,
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-2.1660287380218506,
0.06243105232715607,
3.065729856491089,
-2.2873635292053223,
0
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[
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sweep the green cloth to the left side of the table
|
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[
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[
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[
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[
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sweep the green cloth to the left side of the table
|
[
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[
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[
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| 31
| 0
| 31
| 0
|
End of preview. Expand
in Data Studio
berkeley_autolab_ur5_train_300_400
Overview
- Codebase version:
v2.1 - Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, widowX, xarm7
- FPS: 5.0
- Episodes: 100
- Frames: 9,934
- 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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Size of downloaded dataset files:
13.4 MB
Size of the auto-converted Parquet files:
13.4 MB
Number of rows:
9,934