Jimmy061/isaaclab-libero-7d

IsaacLab LIBERO 7D LeRobot Dataset

This dataset is a 7D axis-angle LeRobot-format conversion of the IsaacLab LIBERO task-space dataset.

Source

• Original local source dataset: /home/chefmate/Astribot/datasets/Isaaclab_Libero/lerobot_task_space/all_libero_suites
• Converted from 8D task-space representation: xyz(3) + quat_wxyz(4) + gripper(1)
• Target 7D representation: xyz(3) + axis_angle(3) + gripper(1)

Format

This dataset follows the LeRobot directory layout:

• meta/
• data/chunk-*/*.parquet
• videos/chunk-*/*.mp4
• norm_stats.json

The converted per-frame fields are:

• observation.state
• action

Both are stored as 7D vectors:

• position: indices 0:3
• axis_angle: indices 3:6
• gripper: indices 6:7

Scale

• Episodes: 1477
• Frames: 243763
• Tasks: 41
• Cameras: agentview_cam, eye_in_hand_cam

Verification

The conversion was checked by converting axis-angle back to quaternion and comparing against the original 8D data.

See:

• verification_summary.json

Expected verification bounds from the current build:

• max_state_quat_error_deg ~= 7.57e-05
• max_action_quat_error_deg ~= 7.57e-05
• max_pos_diff = 0.0
• max_gripper_diff = 0.0

Notes

• This dataset was produced for OpenPI / LeRobot-style finetuning workflows.
• norm_stats.json was recomputed from the converted 7D observation.state and action fields.