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LIBERO-Mem (LeRobot v3.0 Format)
Dataset Description
This dataset is a converted version of LIBERO-Mem, now formatted for compatibility with the LeRobot ecosystem (v3.0).
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 v3.0 (Parquet for metadata, Safetensors for weights/states)
- Robot: Panda Robot (7-DOF Arm + Gripper)
- Tasks: 10 long-term memory manipulation tasks.
Dataset Structure
The dataset follows the standard LeRobot v3.0 structure:
data/: Contains episode data in Parquet format.meta/: Contains task definitions, statistics, and camera configurations.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.
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