| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| # LIBERO native-action EEF10 (LeRobot v3.0) |
|
|
| This local dataset was converted from `lerobot/libero` at revision |
| `a1aaacb7f6cd6ee5fb43120f673cebb0cfea7dd4` (local source: `/mnt/data/wangyuran/libero-lerobot`). Its original parquet packing, |
| episode offsets, tasks, 10 FPS timeline, and videos are preserved. |
|
|
| Both primary robot columns use a 10-D interface: |
|
|
| * `observation.state`: achieved `[xyz3, rot6d6, gripper_open_scale1]` |
| * `action`: native normalized LIBERO `[delta_xyz3, delta_rot6d6, gripper_open_command1]` |
|
|
| The action xyz values are copied unchanged from the source. The action |
| rotation is `rot6d(Exp(source_delta_axis_angle))`; no 0.05 m or 0.5 rad OSC |
| scale is applied and it is not composed with the achieved state. Native |
| LIBERO uses `+1 = close`; the action gripper is negated to match the OpenWAM |
| pretraining convention `-1 = closed, +1 = open`. State gripper is projected |
| from the achieved finger separation as |
| `clip(2 * (qpos0 - qpos1) / 0.08 - 1, -1, 1)`. |
|
|
| The training/deployment normalization artifact is |
| `meta/normalization_stats.npy`. It contains separate |
| `libero` (action) and `libero_state` (state) blocks, |
| and no pooled compatibility block. The canonical LIBERO reader uses |
| the separate blocks so achieved-state and command statistics are never mixed. |
| Its six rot6d dimensions are hard |
| identity-mapped during normalization, even if a stale/custom stats file is |
| supplied. |
|
|
| Dataset totals: 1693 episodes, 273465 frames, |
| 40 tasks, 10.0 FPS. Full provenance and numerical |
| round-trip checks are recorded in `meta/conversion.json`. |
|
|
