---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
  data_files: data/*/*.parquet
---

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).


<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=BlankHead/Roboverse_Dataset_Libero">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>


## Dataset Description



- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
    "codebase_version": "v3.0",
    "robot_type": "Panda",
    "total_episodes": 207,
    "total_frames": 30774,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:207"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": null,
    "features": {
        "is_first": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "is_last": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "is_terminal": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "language_instruction": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "observation.images.image_0": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.images.image_1": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "axes": [
                    "eef_x",
                    "eef_y",
                    "eef_z",
                    "eef_roll",
                    "eef_pitch",
                    "eef_yaw",
                    "gripper"
                ]
            }
        },
        "observation.eef_state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": {
                "axes": [
                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw"
                ]
            }
        },
        "observation.gripper_state": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "axes": [
                    "dx",
                    "dy",
                    "dz",
                    "droll",
                    "dpitch",
                    "dyaw",
                    "gripper"
                ]
            }
        },
        "discount": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}
```


## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```