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Datasets:
THULab
/
libero_plus_spatial_camera_all_failures

Tasks:
Robotics
Modalities:
Time-series
Tags:
LeRobot
libero
libero-plus
panda
multicam
camera
License:
Dataset card Files
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metadata 
license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - libero
  - libero-plus
  - panda
  - multicam
  - camera
  - tsfile
  - timeseries
  - format:tsfile
pretty_name: libero_plus_spatial_camera_all_failures
modality: timeseries
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/libero_plus_spatial_camera_all_failures.tsfile

libero_plus_spatial_camera_all_failures (TsFile)

Apache TsFile version of LSY-lab/libero_plus_spatial_camera_all_failures.

Overview

A LeRobot robot-manipulation dataset — LIBERO-plus spatial-camera manipulation rollouts on a Franka Panda (multi-camera, all-failure episodes). The source card is auto-generated ("This dataset was created using LeRobot") and does not add a free-text description; the facts below are taken from the source meta/info.json.

  • Robot: Franka Panda
  • Episodes: 106
  • Frames: 14068
  • Sampling rate: 20 fps
  • Tasks: 1
  • Splits: a single train split (0:106)

Schema (TsFile structure)

  • Time (INT64, milliseconds) — round(timestamp * 1000); the source timestamp column (seconds) is dropped because it equals Time / 1000.
  • episode_index (TAG), task_index (TAG) — device dimensions; query one episode with WHERE episode_index = <n>.
  • frame_index (FIELD, INT64), sample_index (FIELD, INT64, from the source index) — per-frame bookkeeping.
  • Vector columns (single-precision FLOAT, source name with . → _ and an element index appended):
    • observation.state → observation_state_0..observation_state_7 (FLOAT)
    • observation.states.ee_state → observation_states_ee_state_0..observation_states_ee_state_5 (FLOAT)
    • observation.states.joint_state → observation_states_joint_state_0..observation_states_joint_state_6 (FLOAT)
    • observation.states.gripper_state → observation_states_gripper_state_0..observation_states_gripper_state_1 (FLOAT)
    • action → action_0..action_6 (FLOAT)

Camera video streams are not included in this repository; see the original dataset for the videos: https://huggingface.co/datasets/LSY-lab/libero_plus_spatial_camera_all_failures (videos/ directory).

Usage

Read the .tsfile files with the Apache TsFile Java or Python SDK.

Source & license