Datasets:

THULab
/

libero_all

This LeRobot dataset collects LIBERO manipulation demonstrations for 40 language-defined tasks. The source tasks cover picking and placing objects, arranging bowls and mugs, operating drawers and a stove, and related tabletop interactions.

Dataset Scale

1,693 episodes, 271,772 frames, 40 tasks, sampled at 15 fps.
The train split contains 271,772 TsFile rows in data/libero_all_train.tsfile.

Conversion details

Time is round(timestamp * 1000) in milliseconds. The source timestamp column is therefore not stored as a separate FIELD; frame_index is retained and source index is named sample_index. The 3,386 camera videos reported by the source metadata are not included in this time-series repository and remain in the original dataset.

Schema (TsFile structure)

Time (INT64, milliseconds) is the per-episode sample time.
episode_index and task_index are TAG columns identifying the device series.
frame_index and sample_index are INT64 FIELD columns.
action_0 through _6 and observation_state_0 through _6 are FLOAT FIELD columns.

For example, select one device with WHERE episode_index='0' AND task_index='0'.

Usage

Read data/libero_all_train.tsfile with the Apache TsFile Java or Python SDK.

Source & license

Original dataset: https://huggingface.co/datasets/x-square-robot/libero_all
Author / publisher: x-square-robot
License: not declared by the original dataset; please defer to the original.

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Total file size:

15 MB