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README.md

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+---
+pretty_name: "iamlab_cmu_pickup_insert_train_0_100"
+license: "cc-by-4.0"
+tags: [robotics, lerobot, oxe-aug, dataset]
+task_categories: [robotics]
+
+oxe_aug:
+  codebase_version: "v2.1"
+  robots: ["google_robot", "images", "jaco", "kinova3", "kuka_iiwa", "sawyer", "ur5e", "widowX", "xarm7"]
+  fps: 30
+  total_episodes: 100
+  total_frames: 23023
+  total_videos: 900
+
+configs:
+  - config_name: default
+    data_files:
+      - split: train
+        path:
+          - "data/chunk-*/episode_*.parquet"
+---
+# iamlab_cmu_pickup_insert_train_0_100
+
+## Overview
+
+- **Codebase version**: `v2.1`
+- **Robots**: google_robot, images, jaco, kinova3, kuka_iiwa, sawyer, ur5e, widowX, xarm7
+- **FPS**: 30
+- **Episodes**: 100
+- **Frames**: 23,023
+- **Videos**: 900
+- **Chunks**: 1
+- **Splits**:
+  - `train`: `0:100`
+
+## Data Layout
+
+```text
+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` | `360×640×3` | Augmented image for google_robot robot |
+| `observation.images.image` | `video` | `360×640×3` | Source robot's image from original dataset |
+| `observation.images.jaco` | `video` | `360×640×3` | Augmented image for jaco robot |
+| `observation.images.kinova3` | `video` | `360×640×3` | Augmented image for kinova3 robot |
+| `observation.images.kuka_iiwa` | `video` | `360×640×3` | Augmented image for kuka_iiwa robot |
+| `observation.images.sawyer` | `video` | `360×640×3` | Augmented image for sawyer robot |
+| `observation.images.ur5e` | `video` | `360×640×3` | Augmented image for ur5e robot |
+| `observation.images.widowX` | `video` | `360×640×3` | Augmented image for widowX robot |
+| `observation.images.xarm7` | `video` | `360×640×3` | 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` | `8` | Joint angle of source robot |
+| `observation.kinova3.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
+| `observation.kinova3.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
+| `observation.kinova3.ee_error` | `float32` | `7` | The eef difference between the augmented kinova3 robot and the original robot |
+| `observation.kinova3.ee_pose` | `float32` | `7` | The eef position of kinova3 robot |
+| `observation.kinova3.joints` | `float32` | `8` | The joint position of kinova3 robot |
+| `observation.kuka_iiwa.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
+| `observation.kuka_iiwa.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
+| `observation.kuka_iiwa.ee_error` | `float32` | `7` | The eef difference between the augmented kuka_iiwa robot and the original robot |
+| `observation.kuka_iiwa.ee_pose` | `float32` | `7` | The eef position of kuka_iiwa robot |
+| `observation.kuka_iiwa.joints` | `float32` | `8` | The joint position of kuka_iiwa robot |
+| `observation.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` | `20` | Copy of the state field in source robot's RLDS dataset |
+| `observation.ur5e.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
+| `observation.ur5e.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
+| `observation.ur5e.ee_error` | `float32` | `7` | The eef difference between the augmented ur5e robot and the original robot |
+| `observation.ur5e.ee_pose` | `float32` | `7` | The eef position of ur5e robot |
+| `observation.ur5e.joints` | `float32` | `7` | The joint position of ur5e robot |
+| `observation.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/](https://oxe-aug.github.io/)
+- Project repository: [https://github.com/GuanhuaJi/oxe-aug](https://github.com/GuanhuaJi/oxe-aug)
+
+## Paper
+
+- [https://openreview.net/forum?id=WuBv9-IGDUA](https://openreview.net/forum?id=WuBv9-IGDUA)
+
+## Citation Policy
+
+If you use **OXE-Aug** datasets, please cite **both** our dataset and the **upstream datasets**.
+
+## Upstream Dataset Citation (original dataset)
+
+```bibtex
+@inproceedings{saxena2023multiresolution,
+    title={Multi-Resolution Sensing for Real-Time Control with Vision-Language Models},
+    author={Saumya Saxena and Mohit Sharma and Oliver Kroemer},
+    booktitle={7th Annual Conference on Robot Learning},
+    year={2023},
+    url={https://openreview.net/forum?id=WuBv9-IGDUA}
+}
+```
+
+## OXE-Aug Dataset Citation (ours)
+
+```bibtex
+@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}
+}
+```

README.md.bak

@@ -0,0 +1,141 @@
+---
+pretty_name: "iamlab_cmu_pickup_insert_train_0_100"
+license: "cc-by-4.0"
+tags: [robotics, lerobot, oxe-aug, dataset]
+task_categories: [robotics]
+
+oxe_aug:
+  codebase_version: "v2.1"
+  robots: ["google_robot", "images", "jaco", "kinova3", "kuka_iiwa", "sawyer", "ur5e", "widowX", "xarm7"]
+  fps: 30
+  total_episodes: 100
+  total_frames: 23023
+  total_videos: 900
+
+configs:
+  - config_name: default
+    data_files:
+      - split: train
+        path:
+          - "data/chunk-*/episode_*.parquet"
+---
+# iamlab_cmu_pickup_insert_train_0_100
+
+## Overview
+
+- **Codebase version**: `v2.1`
+- **Robots**: google_robot, images, jaco, kinova3, kuka_iiwa, sawyer, ur5e, widowX, xarm7
+- **FPS**: 30
+- **Episodes**: 100
+- **Frames**: 23,023
+- **Videos**: 900
+- **Chunks**: 1
+- **Splits**:
+  - `train`: `0:100`
+
+## Data Layout
+
+```text
+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` | `360×640×3` | Augmented image for google_robot robot |
+| `observation.images.image` | `video` | `360×640×3` | Source robot's image from original dataset |
+| `observation.images.jaco` | `video` | `360×640×3` | Augmented image for jaco robot |
+| `observation.images.kinova3` | `video` | `360×640×3` | Augmented image for kinova3 robot |
+| `observation.images.kuka_iiwa` | `video` | `360×640×3` | Augmented image for kuka_iiwa robot |
+| `observation.images.sawyer` | `video` | `360×640×3` | Augmented image for sawyer robot |
+| `observation.images.ur5e` | `video` | `360×640×3` | Augmented image for ur5e robot |
+| `observation.images.widowX` | `video` | `360×640×3` | Augmented image for widowX robot |
+| `observation.images.xarm7` | `video` | `360×640×3` | 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` | `8` | Joint angle of source robot |
+| `observation.kinova3.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
+| `observation.kinova3.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
+| `observation.kinova3.ee_error` | `float32` | `7` | The eef difference between the augmented kinova3 robot and the original robot |
+| `observation.kinova3.ee_pose` | `float32` | `7` | The eef position of kinova3 robot |
+| `observation.kinova3.joints` | `float32` | `8` | The joint position of kinova3 robot |
+| `observation.kuka_iiwa.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
+| `observation.kuka_iiwa.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
+| `observation.kuka_iiwa.ee_error` | `float32` | `7` | The eef difference between the augmented kuka_iiwa robot and the original robot |
+| `observation.kuka_iiwa.ee_pose` | `float32` | `7` | The eef position of kuka_iiwa robot |
+| `observation.kuka_iiwa.joints` | `float32` | `8` | The joint position of kuka_iiwa robot |
+| `observation.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` | `20` | Copy of the state field in source robot's RLDS dataset |
+| `observation.ur5e.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
+| `observation.ur5e.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
+| `observation.ur5e.ee_error` | `float32` | `7` | The eef difference between the augmented ur5e robot and the original robot |
+| `observation.ur5e.ee_pose` | `float32` | `7` | The eef position of ur5e robot |
+| `observation.ur5e.joints` | `float32` | `7` | The joint position of ur5e robot |
+| `observation.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/](https://oxe-aug.github.io/)
+- Project repository: [https://github.com/GuanhuaJi/oxe-aug](https://github.com/GuanhuaJi/oxe-aug)
+
+## Paper
+
+- [https://openreview.net/forum?id=WuBv9-IGDUA](https://openreview.net/forum?id=WuBv9-IGDUA)
+
+## Citation Policy
+
+If you use **OXE-Aug** datasets, please cite **both** our dataset and the **upstream datasets**.
+
+## Upstream Dataset Citation (original dataset)
+
+```bibtex
+@inproceedings{saxena2023multiresolution,
+    title={Multi-Resolution Sensing for Real-Time Control with Vision-Language Models},
+    author={Saumya Saxena and Mohit Sharma and Oliver Kroemer},
+    booktitle={7th Annual Conference on Robot Learning},
+    year={2023},
+    url={https://openreview.net/forum?id=WuBv9-IGDUA}
+}
+```
+
+## OXE-Aug Dataset Citation (ours)
+
+```bibtex
+@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}
+}
+```

meta/episodes.jsonl

@@ -0,0 +1,100 @@
+{"episode_index": 0, "tasks": ["Pick up green block."], "length": 302}
+{"episode_index": 1, "tasks": ["Pick up pink flower."], "length": 287}
+{"episode_index": 2, "tasks": ["Insert greeen block."], "length": 236}
+{"episode_index": 3, "tasks": ["Pick up green block."], "length": 215}
+{"episode_index": 4, "tasks": ["Insert greeen block."], "length": 617}
+{"episode_index": 5, "tasks": ["Insert greeen block."], "length": 409}
+{"episode_index": 6, "tasks": ["Pick up green block."], "length": 158}
+{"episode_index": 7, "tasks": ["Pick up blue block."], "length": 241}
+{"episode_index": 8, "tasks": ["Pick up green block."], "length": 321}
+{"episode_index": 9, "tasks": ["Pick up blue block."], "length": 129}
+{"episode_index": 10, "tasks": ["Pick up pink block."], "length": 97}
+{"episode_index": 11, "tasks": ["Insert greeen block."], "length": 245}
+{"episode_index": 12, "tasks": ["Pick up pink flower."], "length": 188}
+{"episode_index": 13, "tasks": ["Pick up green block."], "length": 332}
+{"episode_index": 14, "tasks": ["Pick up blue block."], "length": 231}
+{"episode_index": 15, "tasks": ["Pick up yellow block."], "length": 394}
+{"episode_index": 16, "tasks": ["Pick up pink flower."], "length": 178}
+{"episode_index": 17, "tasks": ["Pick up pink flower."], "length": 257}
+{"episode_index": 18, "tasks": ["Pick up pink flower."], "length": 212}
+{"episode_index": 19, "tasks": ["Pick up pink block."], "length": 208}
+{"episode_index": 20, "tasks": ["Insert greeen block."], "length": 310}
+{"episode_index": 21, "tasks": ["Pick up green block."], "length": 268}
+{"episode_index": 22, "tasks": ["Pick up green block."], "length": 96}
+{"episode_index": 23, "tasks": ["Pick up green block."], "length": 267}
+{"episode_index": 24, "tasks": ["Pick up pink flower."], "length": 244}
+{"episode_index": 25, "tasks": ["Pick up green block."], "length": 166}
+{"episode_index": 26, "tasks": ["Pick up green block."], "length": 286}
+{"episode_index": 27, "tasks": ["Pick up blue block."], "length": 239}
+{"episode_index": 28, "tasks": ["Pick up blue block."], "length": 191}
+{"episode_index": 29, "tasks": ["Pick up pink block."], "length": 144}
+{"episode_index": 30, "tasks": ["Pick up yellow block."], "length": 243}
+{"episode_index": 31, "tasks": ["Pick up green block."], "length": 102}
+{"episode_index": 32, "tasks": ["Pick up green block."], "length": 144}
+{"episode_index": 33, "tasks": ["Insert greeen block."], "length": 317}
+{"episode_index": 34, "tasks": ["Pick up blue block."], "length": 222}
+{"episode_index": 35, "tasks": ["Pick up green block."], "length": 122}
+{"episode_index": 36, "tasks": ["Pick up blue block."], "length": 170}
+{"episode_index": 37, "tasks": ["Pick up green block."], "length": 136}
+{"episode_index": 38, "tasks": ["Pick up green block."], "length": 160}
+{"episode_index": 39, "tasks": ["Insert greeen block."], "length": 185}
+{"episode_index": 40, "tasks": ["Pick up pink flower."], "length": 261}
+{"episode_index": 41, "tasks": ["Pick up pink flower."], "length": 246}
+{"episode_index": 42, "tasks": ["Pick up green block."], "length": 153}
+{"episode_index": 43, "tasks": ["Pick up pink block."], "length": 131}
+{"episode_index": 44, "tasks": ["Pick up green block."], "length": 94}
+{"episode_index": 45, "tasks": ["Pick up pink block."], "length": 96}
+{"episode_index": 46, "tasks": ["Pick up pink flower."], "length": 231}
+{"episode_index": 47, "tasks": ["Pick up yellow block."], "length": 342}
+{"episode_index": 48, "tasks": ["Pick up green block."], "length": 108}
+{"episode_index": 49, "tasks": ["Pick up pink block."], "length": 156}
+{"episode_index": 50, "tasks": ["Pick up green block."], "length": 211}
+{"episode_index": 51, "tasks": ["Pick up green block."], "length": 217}
+{"episode_index": 52, "tasks": ["Pick up green block."], "length": 138}
+{"episode_index": 53, "tasks": ["Insert greeen block."], "length": 763}
+{"episode_index": 54, "tasks": ["Pick up pink flower."], "length": 202}
+{"episode_index": 55, "tasks": ["Insert greeen block."], "length": 516}
+{"episode_index": 56, "tasks": ["Pick up pink block."], "length": 139}
+{"episode_index": 57, "tasks": ["Pick up green block."], "length": 140}
+{"episode_index": 58, "tasks": ["Pick up green block."], "length": 155}
+{"episode_index": 59, "tasks": ["Pick up green block."], "length": 221}
+{"episode_index": 60, "tasks": ["Pick up pink flower."], "length": 208}
+{"episode_index": 61, "tasks": ["Pick up blue block."], "length": 242}
+{"episode_index": 62, "tasks": ["Insert greeen block."], "length": 488}
+{"episode_index": 63, "tasks": ["Pick up narrow blue stick."], "length": 278}
+{"episode_index": 64, "tasks": ["Pick up yellow block."], "length": 254}
+{"episode_index": 65, "tasks": ["Pick up pink block."], "length": 142}
+{"episode_index": 66, "tasks": ["Insert greeen block."], "length": 233}
+{"episode_index": 67, "tasks": ["Pick up pink block."], "length": 134}
+{"episode_index": 68, "tasks": ["Pick up pink block."], "length": 110}
+{"episode_index": 69, "tasks": ["Pick up pink block."], "length": 118}
+{"episode_index": 70, "tasks": ["Insert greeen block."], "length": 310}
+{"episode_index": 71, "tasks": ["Pick up green block."], "length": 237}
+{"episode_index": 72, "tasks": ["Pick up pink flower."], "length": 306}
+{"episode_index": 73, "tasks": ["Insert greeen block."], "length": 361}
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