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The TensorFlow Datasets Authors
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Publish 'RoboAiUR5e' OXE datasets, see https://robotics-transformer-x.github.io/.
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tensorflow_datasets/robotics/__init__.py

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from tensorflow_datasets.robotics.rtx import NyuFrankaPlayDatasetConvertedExternallyToRlds
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from tensorflow_datasets.robotics.rtx import NyuRotDatasetConvertedExternallyToRlds
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from tensorflow_datasets.robotics.rtx import PlexRobosuite
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from tensorflow_datasets.robotics.rtx import RoboAiUR5e
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from tensorflow_datasets.robotics.rtx import RoboSet
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from tensorflow_datasets.robotics.rtx import Roboturk
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from tensorflow_datasets.robotics.rtx import SpocRobot

tensorflow_datasets/robotics/rtx/__init__.py

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from tensorflow_datasets.robotics.rtx.rtx import NyuFrankaPlayDatasetConvertedExternallyToRlds
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from tensorflow_datasets.robotics.rtx.rtx import NyuRotDatasetConvertedExternallyToRlds
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from tensorflow_datasets.robotics.rtx.rtx import PlexRobosuite
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from tensorflow_datasets.robotics.rtx.rtx import RoboAiUR5e
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from tensorflow_datasets.robotics.rtx.rtx import RoboSet
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from tensorflow_datasets.robotics.rtx.rtx import Roboturk
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from tensorflow_datasets.robotics.rtx.rtx import SpocRobot

tensorflow_datasets/robotics/rtx/rtx.py

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def get_relative_dataset_location(self):
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return 'spoc/0.0.1'
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class RoboAiUR5e(dataset_importer_builder.DatasetImporterBuilder):
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"""DatasetBuilder for `robo_ai_u_r5e` dataset."""
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def get_description(self):
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return r"""Universal Robots UR5e demonstration dataset for VLA model training. Data collected from real-world robot workspace with preprogrammed robot routines."""
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def get_citation(self):
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return r"""@article{RoboAIUR5e2025,
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title = {RoboAI UR5e Training Dataset},
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author = {Joonas Rouhiainen},
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institution = {RoboAI Research Center, Satakunta University of Applied Sciences},
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year = {2025},
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howpublished = {\url{https://sites.google.com/view/roboai-ur5e/home}},
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}"""
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def get_homepage(self):
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return r"""https://sites.google.com/view/roboai-ur5e/home"""
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def get_relative_dataset_location(self):
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return 'robo_ai_u_r5e/0.0.1'

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