Bridge Augmented
Collection
6 items
•
Updated
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.sawyer.joints
listlengths 8
8
| observation.sawyer.ee_pose
listlengths 7
7
| observation.sawyer.base_position
listlengths 3
3
| observation.sawyer.base_orientation
float32 0
0
| observation.sawyer.ee_error
listlengths 7
7
| observation.ur5e.joints
listlengths 7
7
| observation.ur5e.ee_pose
listlengths 7
7
| observation.ur5e.base_position
listlengths 3
3
| observation.ur5e.base_orientation
float32 0
0
| observation.ur5e.ee_error
listlengths 7
7
| observation.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.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.kinova3.joints
listlengths 8
8
| observation.kinova3.ee_pose
listlengths 7
7
| observation.kinova3.base_position
listlengths 3
3
| observation.kinova3.base_orientation
float32 0
0
| observation.kinova3.ee_error
listlengths 7
7
| observation.kuka_iiwa.joints
listlengths 8
8
| observation.kuka_iiwa.ee_pose
listlengths 7
7
| observation.kuka_iiwa.base_position
listlengths 3
3
| observation.kuka_iiwa.base_orientation
float32 0
0
| observation.kuka_iiwa.ee_error
listlengths 7
7
| observation.xarm7.joints
listlengths 8
8
| observation.xarm7.ee_pose
listlengths 7
7
| observation.xarm7.base_position
listlengths 3
3
| observation.xarm7.base_orientation
float32 0
0
| observation.xarm7.ee_error
listlengths 7
7
| natural_language_instruction
stringlengths 9
176
| observation.state
listlengths 7
7
| observation.joints
listlengths 7
7
| observation.ee_pose
listlengths 7
7
| timestamp
float64 0
15.6
| frame_index
int64 0
78
| episode_index
int64 0
5k
| index
int64 0
171k
| task_index
int64 0
2.76k
|
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[
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flip pot upright in sink distractors
|
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| 2
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[
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flip pot upright in sink distractors
|
[
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| 3
| 0
| 3
| 0
|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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|
[
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flip pot upright in sink distractors
|
[
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[
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[
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| 4
| 0
| 4
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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[
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flip pot upright in sink distractors
|
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| 0
| 5
| 0
|
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[
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[
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[
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|
[
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flip pot upright in sink distractors
|
[
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[
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[
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| 6
| 0
| 6
| 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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flip pot upright in sink distractors
|
[
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[
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[
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] | 1.4
| 7
| 0
| 7
| 0
|
[
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[
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[
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|
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flip pot upright in sink distractors
|
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flip pot upright in sink distractors
|
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| 9
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flip pot upright in sink distractors
|
[
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[
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[
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| 10
| 0
| 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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flip pot upright in sink distractors
|
[
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[
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[
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| 11
| 0
| 11
| 0
|
[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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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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flip pot upright in sink distractors
|
[
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[
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[
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| 12
| 0
| 12
| 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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flip pot upright in sink distractors
|
[
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[
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[
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| 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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[
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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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flip pot upright in sink distractors
|
[
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[
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[
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| 14
| 0
| 14
| 0
|
[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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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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flip pot upright in sink distractors
|
[
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[
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[
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| 15
| 0
| 15
| 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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flip pot upright in sink distractors
|
[
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|
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flip pot upright in sink distractors
|
[
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| 17
| 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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[
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[
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[
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flip pot upright in sink distractors
|
[
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[
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[
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| 18
| 0
| 18
| 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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flip pot upright in sink distractors
|
[
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| 19
| 0
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| 0
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[
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[
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flip pot upright in sink distractors
|
[
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[
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[
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| 20
| 0
| 20
| 0
|
[
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[
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[
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[
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[
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[
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[
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[
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|
[
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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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flip pot upright in sink distractors
|
[
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[
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[
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] | 4.2
| 21
| 0
| 21
| 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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[
0,
0,
0
] | 0
|
[
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0.00015132874250411987,
0.000004470348358154297,
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] |
flip pot upright in sink distractors
|
[
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0.012901652604341507,
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[
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[
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0.9917911291122437,
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] | 4.4
| 22
| 0
| 22
| 0
|
[
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[
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[
0.30000001192092896,
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0
] | 0
|
[
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0.000003077089786529541,
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7.711350917816162e-7
] |
[
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[
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[
0.30000001192092896,
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0
] | 0
|
[
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[
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[
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[
0,
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] | 0
|
[
4.172325134277344e-7,
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0.00010374188423156738,
8.344650268554688e-7,
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[
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[
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] |
[
0.25,
0,
0.05000000074505806
] | 0
|
[
3.5762786865234375e-7,
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1.4156103134155273e-7,
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0.00007896870374679565
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[
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2.2164196968078613,
5.41517972946167,
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3.6588621139526367,
0.680191159248352
] |
[
0.3267017602920532,
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0.01274945680052042,
0.07463014125823975,
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0.9914617538452148,
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[
0,
0,
0
] | 0
|
[
0.0001252293586730957,
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0.00017163902521133423,
0.0000883936882019043,
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] |
[
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1.0824193954467773,
0.7672736048698425,
1.358422040939331,
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0.8527973294258118,
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0.680191159248352
] |
[
0.6268276572227478,
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0.012845524586737156,
0.07173085957765579,
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0.9915454387664795,
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] |
[
0.30000001192092896,
0,
0
] | 0
|
[
-6.556510925292969e-7,
0.000005412846803665161,
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0.00002187490463256836,
0.00013096630573272705,
0.000004708766937255859,
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] |
[
0.22009515762329102,
1.5253199338912964,
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0.8671441674232483,
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2.3644216060638428,
0.680191159248352
] |
[
0.6268174052238464,
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0.07193849235773087,
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0.9915307760238647,
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] |
[
0.30000001192092896,
0,
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] | 0
|
[
0.00000959634780883789,
0.0000053532421588897705,
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0.0001401081681251526,
0.000019371509552001953,
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] |
[
-0.07234197109937668,
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0.27421835064888,
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0.11065717041492462,
0.05904105678200722,
0.680191159248352
] |
[
0.32683065533638,
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0.07158773392438889,
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0.9915676116943359,
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] |
[
0,
0,
0
] | 0
|
[
-0.0000036656856536865234,
6.92903995513916e-7,
-0.000009337440133094788,
0.0001650005578994751,
0.000007495284080505371,
-0.000017464160919189453,
-0.00014053285121917725
] |
flip pot upright in sink distractors
|
[
0.32662323117256165,
-0.03542151674628258,
0.012615739367902279,
-0.10281999409198761,
-0.13421820104122162,
0.20266875624656677,
0.680191159248352
] |
[
-0.07782115787267685,
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0.4478842616081238,
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0.6889493465423584,
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0.680191159248352
] |
[
0.3268231451511383,
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0.012848114594817162,
0.07175356894731522,
-0.09854153543710709,
0.9915505647659302,
-0.04436706751585007
] | 4.6
| 23
| 0
| 23
| 0
|
[
0.06917968392372131,
0.4043905436992645,
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-2.2816178798675537,
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3.160754680633545,
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1.0001531839370728
] |
[
0.5841159820556641,
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0.14624091982841492,
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] |
[
0.30000001192092896,
0,
0
] | 0
|
[
0.0000030994415283203125,
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0.00004704296588897705,
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0.00006237626075744629
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[
-0.3691544234752655,
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2.1594035625457764,
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1.0001531839370728
] |
[
0.584123432636261,
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0.24198053777217865,
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0.9151059985160828,
0.029894985258579254
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
-0.000004351139068603516,
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0.0000017136335372924805,
0.00009420514106750488,
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0.00013579055666923523
] |
[
-2.671734094619751,
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2.632841110229492,
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1.3664929866790771,
1.0001531839370728
] |
[
0.284122109413147,
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0.24201466143131256,
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0.9150466322898865,
0.03012290969491005
] |
[
0,
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0
] | 0
|
[
-0.0000030100345611572266,
0.000004311790689826012,
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0.00006008148193359375,
0.00009393692016601562,
0.00002014636993408203,
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] |
[
-3.1419124603271484,
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-1.834196925163269,
1.9399828910827637,
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0.48621517419815063,
1.0001531839370728
] |
[
0.5341243147850037,
0.20159371197223663,
0.19624093174934387,
0.24189648032188416,
-0.3212342858314514,
0.9150887131690979,
0.030121659860014915
] |
[
0.25,
0,
0.05000000074505806
] | 0
|
[
-0.000005185604095458984,
5.960464477539062e-7,
-0.0000036656856536865234,
0.0001782625913619995,
0.00006330013275146484,
-0.00002193450927734375,
-0.00009088404476642609
] |
[
-0.4196285903453827,
2.6280477046966553,
5.6634650230407715,
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0.44764259457588196,
0.088587686419487,
1.0001531839370728
] |
[
0.2841235399246216,
0.2015932947397232,
0.14624187350273132,
0.2419721931219101,
-0.3211902976036072,
0.9150852560997009,
0.030087724328041077
] |
[
0,
0,
0
] | 0
|
[
-0.0000044405460357666016,
0.0000010132789611816406,
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0.00010254979133605957,
0.000019311904907226562,
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] |
[
-0.7322301268577576,
0.6644648313522339,
0.6105781197547913,
1.72303307056427,
-0.9683583378791809,
0.5261095762252808,
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1.0001531839370728
] |
[
0.5841246247291565,
0.20158790051937103,
0.14623598754405975,
0.24204924702644348,
-0.3213159739971161,
0.9150160551071167,
0.03022914007306099
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
-0.000005543231964111328,
0.000006407499313354492,
0.0000012814998626708984,
0.00002549588680267334,
0.0001449882984161377,
0.00005072355270385742,
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] |
[
-0.09076747298240662,
1.2539669275283813,
0.515880823135376,
-1.6671562194824219,
0.9135401248931885,
-0.33344537019729614,
1.4873818159103394,
1.0001531839370728
] |
[
0.5841227173805237,
0.20159150660037994,
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0.24197153747081757,
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0.9150574207305908,
0.03009013831615448
] |
[
0.30000001192092896,
0,
-0.20000000298023224
] | 0
|
[
-0.000003635883331298828,
0.0000028014183044433594,
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0.00010320544242858887,
0.00009876489639282227,
0.000009357929229736328,
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] |
[
0.4881494641304016,
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0.20244640111923218,
0.12872359156608582,
0.028109049424529076,
0.22357110679149628,
-0.01604297384619713,
1.0001531839370728
] |
[
0.2841216027736664,
0.20159557461738586,
0.1462414264678955,
0.24197781085968018,
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0.9150940179824829,
0.029984919354319572
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[
0,
0,
0
] | 0
|
[
-0.0000025033950805664062,
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0.000096932053565979,
-2.682209014892578e-7,
-0.000027239322662353516,
0.00004585646092891693
] |
Place the yellow cloth on the top left corner
|
[
0.2841190993785858,
0.2015943080186844,
0.14623726904392242,
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0.7029671669006348,
1.0001531839370728
] |
[
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[
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[
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Place the yellow cloth on the top left corner
|
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| 25
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[
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[
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[
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[
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Place the yellow cloth on the top left corner
|
[
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[
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[
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| 2
| 1
| 26
| 1
|
[
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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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0.00009496510028839111,
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0.000011086463928222656,
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] |
[
0.4715326726436615,
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[
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[
0,
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|
[
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0.00009740889072418213,
5.960464477539062e-7,
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Place the yellow cloth on the top left corner
|
[
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[
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[
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| 3
| 1
| 27
| 1
|
[
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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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|
[
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0.00010000169277191162,
0.000003516674041748047,
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0.00002951687201857567
] |
Place the yellow cloth on the top left corner
|
[
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[
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[
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] | 0.8
| 4
| 1
| 28
| 1
|
[
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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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[
0.30000001192092896,
0,
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] | 0
|
[
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[
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[
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[
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|
[
-0.000004798173904418945,
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0.00010387599468231201,
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Place the yellow cloth on the top left corner
|
[
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[
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[
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0.9405175447463989,
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] | 1
| 5
| 1
| 29
| 1
|
[
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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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[
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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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Place the yellow cloth on the top left corner
|
[
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| 6
| 1
| 30
| 1
|
[
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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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0.00012649595737457275,
0.000007867813110351562,
-0.000025093555450439453,
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Place the yellow cloth on the top left corner
|
[
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0.08539343625307083,
0.10740641504526138,
-0.07878892123699188,
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0.2929481565952301,
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[
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0.7433329820632935,
-0.21305647492408752,
0.7834013104438782,
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[
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0.20355325937271118,
-0.17911410331726074,
0.9624807834625244,
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] | 1.4
| 7
| 1
| 31
| 1
|
End of preview. Expand
in Data Studio
bridge_train_10000_15000_augmented
Overview
- Codebase version:
v3.0 - Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e, xarm7
- FPS: 5
- Episodes: 5,000
- Frames: 170,583
- Splits:
train:0:5000
Data Layout
data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
Features
| Feature | dtype | shape | description |
|---|---|---|---|
observation.images.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.ur5e |
video |
480×640×3 |
Augmented image for ur5e robot |
observation.images.xarm7 |
video |
480×640×3 |
Augmented image for xarm7 robot |
episode_index |
int64 |
1 |
Index of the current episode within the dataset. |
frame_index |
int64 |
1 |
Index of the current frame within its episode. |
index |
int64 |
1 |
Global frame index across the whole dataset. |
natural_language_instruction |
string |
1 |
Natural language command describing the task |
observation.ee_pose |
float32 |
7 |
Source robot's eef position |
observation.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 |
7 |
Copy of the state field in source robot's RLDS dataset |
observation.ur5e.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.ur5e.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.ur5e.ee_error |
float32 |
7 |
The eef difference between the augmented ur5e robot and the original robot |
observation.ur5e.ee_pose |
float32 |
7 |
The eef position of ur5e robot |
observation.ur5e.joints |
float32 |
7 |
The joint position of ur5e robot |
observation.xarm7.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.xarm7.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.xarm7.ee_error |
float32 |
7 |
The eef difference between the augmented xarm7 robot and the original robot |
observation.xarm7.ee_pose |
float32 |
7 |
The eef position of xarm7 robot |
observation.xarm7.joints |
float32 |
8 |
The joint position of xarm7 robot |
task_index |
int64 |
1 |
Integer ID of the high-level task this episode/frame belongs to. |
timestamp |
float32 |
1 |
Time stamp of the current frame within the episode (in second). |
Website
- Website page: https://oxe-auge.github.io/
- Project repository: https://github.com/GuanhuaJi/oxe-auge
Paper
Citation Policy
If you use OXE-AugE datasets, please cite both our dataset and the upstream datasets.
Upstream Dataset Citation (original dataset)
@article{walke2023bridgedatav2,
title = {BridgeData V2: A Dataset for Robot Learning at Scale},
author = {Walke, Homer and Black, Kevin and Lee, Abraham and Kim, Moo Jin and Du, Max and Zheng, Chongyi and Zhao, Tony and Hansen-Estruch, Philippe and Vuong, Quan and He, Andre and Myers, Vivek and Fang, Kuan and Finn, Chelsea and Levine, Sergey},
journal = {arXiv preprint arXiv:2308.12952},
year = {2023},
doi = {10.48550/arXiv.2308.12952},
url = {https://arxiv.org/abs/2308.12952},
note = {Version v3, last revised 2024-01-17}
}
OXE-AugE Dataset Citation (ours)
@misc{
ji2025oxeaug,
title = {OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning},
author = {Ji, Guanhua and Polavaram, Harsha and Chen, Lawrence Yunliang and Bajamahal, Sandeep and Ma, Zehan and Adebola, Simeon and Xu, Chenfeng and Goldberg, Ken},
year = {2025},
note = {Manuscript}
}
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Size of downloaded dataset files:
135 MB
Size of the auto-converted Parquet files:
135 MB
Number of rows:
170,583