This dataset was created using LeRobot.

Dataset Card for Smol-LIBERO

Dataset Summary

Smol-LIBERO is a compact version of the LIBERO benchmark, built to make experimentation fast and accessible.
At just 1.79 GB (compared to ~34 GB for the full LIBERO), it contains fewer trajectories and cameras while keeping the same multimodal structure.

Each sample includes:

• Images from two fixed cameras
• Two types of robot state (end-effector pose + gripper, and full 7-DoF joint positions)
• Actions (7-DoF joint commands)

This setup is especially useful for comparing low-dimensional state inputs with high-dimensional visual inputs, or combining them in multimodal training.

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Dataset Structure

Data Fields

• observation.images.image: 256×256×3 RGB image (camera 1)
• observation.images.image2: 256×256×3 RGB image (camera 2)
• observation.state (8 floats): end-effector Cartesian pose + gripper
  [x, y, z, roll, pitch, yaw, gripper, gripper]
• observation.state.joint (7 floats): full joint angles
  [joint_1, …, joint_7]
• action (7 floats): target joint commands

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Why is it smaller than LIBERO?

• Fewer trajectories/tasks → subset of the full benchmark
• Only two camera views → reduced visual redundancy
• Reduced total frames → shorter episodes or lower FPS

That’s why Smol-LIBERO is 1.79 GB instead of 34 GB.

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Intended Uses

• Quick prototyping and debugging
• Comparing joint-space vs. Cartesian state inputs
• Training small VLA baselines before scaling to LIBERO

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Limitations

• Smaller task and visual diversity compared to LIBERO
• Only two fixed camera views
• May not fully represent generalization behavior on larger benchmarks

Citation

BibTeX:

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