CollisionCode/libero_mem_lerobot_v2.1

LIBERO-Mem (LeRobot v2.1 Format)

Dataset Description

This dataset is a converted version of LIBERO-Mem, now formatted for compatibility with the LeRobot ecosystem (v2.1).

While the official LIBERO dataset only provides HDF5 files and RLDS conversion methods, this version enables seamless training with modern imitation learning pipelines like Diffusion Policy, ACT, and VLA models within the LeRobot framework.

• Original Dataset: LIBERO-Mem
• Conversion Tool: any4lerobot
• Conversion Process libero-mem
• Format: LeRobot v2.1
• Robot: Panda Robot (7-DOF Arm + Gripper)
• Tasks: 10 long-term memory manipulation tasks.

Dataset Structure

The dataset follows the standard LeRobot v2.1 structure:

• data/: Contains episode data in Parquet format.
• meta/: Contains task definitions, statistics, and camera configurations.
  • ⚠️ Note:: modality.json, stats_gr00t.json, steps_data_index.pkl are intermediate products generated during the StarVLA training pipeline
• videos/: (If included) High-quality task execution videos.

Key Observations/Actions

• observation.images.agentview: 256x256 agent-view camera RGB.
• observation.images.eye_in_hand: 256x256 wrist-mounted camera RGB.
• observation.state: Robot joint positions and gripper state.
• action: 7-DOF delta end-effector pose + gripper action.