---
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`.