NYU Franka Play Dataset Augmented
Collection
2 items
•
Updated
Datasets:
Dataset Viewer
observation.widowX.joints
listlengths 7
7
| observation.widowX.ee_pose
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7
| observation.widowX.base_position
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| observation.widowX.base_orientation
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| observation.widowX.ee_error
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7
| observation.sawyer.joints
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8
| observation.sawyer.ee_pose
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| observation.sawyer.base_position
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| observation.sawyer.base_orientation
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| observation.sawyer.ee_error
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7
| observation.ur5e.joints
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| observation.ur5e.ee_pose
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| observation.ur5e.base_position
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3
| observation.ur5e.base_orientation
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| observation.ur5e.ee_error
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7
| observation.google_robot.joints
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8
| observation.google_robot.ee_pose
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| observation.google_robot.base_position
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3
| observation.google_robot.base_orientation
float32 0
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| observation.google_robot.ee_error
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7
| observation.jaco.joints
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7
| observation.jaco.ee_pose
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| observation.jaco.base_position
listlengths 3
3
| observation.jaco.base_orientation
float32 0
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| observation.jaco.ee_error
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| observation.kinova3.joints
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8
| observation.kinova3.ee_pose
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| observation.kinova3.base_position
listlengths 3
3
| observation.kinova3.base_orientation
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| observation.kinova3.ee_error
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7
| observation.kuka_iiwa.joints
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8
| observation.kuka_iiwa.ee_pose
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| observation.kuka_iiwa.base_position
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3
| observation.kuka_iiwa.base_orientation
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| observation.kuka_iiwa.ee_error
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| observation.xarm7.joints
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| observation.xarm7.ee_pose
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| observation.xarm7.base_position
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| observation.xarm7.base_orientation
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| observation.xarm7.ee_error
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| natural_language_instruction
stringclasses 1
value | observation.state
listlengths 13
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| observation.joints
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8
| observation.ee_pose
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7
| timestamp
float64 0
92
| frame_index
int64 0
276
| episode_index
int64 0
364
| index
int64 0
34.4k
| task_index
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play with the kitchen
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play with the kitchen
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play with the kitchen
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play with the kitchen
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play with the kitchen
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play with the kitchen
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play with the kitchen
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play with the kitchen
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play with the kitchen
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play with the kitchen
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play with the kitchen
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play with the kitchen
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play with the kitchen
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play with the kitchen
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play with the kitchen
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play with the kitchen
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play with the kitchen
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play with the kitchen
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play with the kitchen
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play with the kitchen
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play with the kitchen
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End of preview. Expand
in Data Studio
nyu_franka_play_dataset_train_augmented
Overview
- Codebase version:
v2.1 - Robots: google_robot, images, jaco, kinova3, kuka_iiwa, sawyer, ur5e, widowX, xarm7
- FPS: 3.0
- Episodes: 365
- Frames: 34,448
- Videos: 3,285
- Chunks: 1
- Splits:
train:0:365
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 |
128×128×3 |
Augmented image for google_robot robot |
observation.images.image |
video |
128×128×3 |
Source robot's image from original dataset |
observation.images.jaco |
video |
128×128×3 |
Augmented image for jaco robot |
observation.images.kinova3 |
video |
128×128×3 |
Augmented image for kinova3 robot |
observation.images.kuka_iiwa |
video |
128×128×3 |
Augmented image for kuka_iiwa robot |
observation.images.sawyer |
video |
128×128×3 |
Augmented image for sawyer robot |
observation.images.ur5e |
video |
128×128×3 |
Augmented image for ur5e robot |
observation.images.widowX |
video |
128×128×3 |
Augmented image for widowX robot |
observation.images.xarm7 |
video |
128×128×3 |
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 |
13 |
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/
- Project repository: https://github.com/GuanhuaJi/oxe-aug
Paper
- Not available.
Citation Policy
If you use OXE-Aug datasets, please cite both our dataset and the upstream datasets.
Upstream Dataset Citation (original dataset)
@article{cui2022play,
title = {From Play to Policy: Conditional Behavior Generation from Uncurated Robot Data},
author = {Cui, Zichen Jeff and Wang, Yibin and Shafiullah, Nur Muhammad Mahi and Pinto, Lerrel},
journal = {arXiv preprint arXiv:2210.10047},
year = {2022}
}
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}
}
- Downloads last month
- 18
Size of downloaded dataset files:
48.9 MB
Size of the auto-converted Parquet files:
48.9 MB
Number of rows:
34,448