LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning
Paper • 2306.03310 • Published • 3
Datasets:
Dataset Viewer
The dataset viewer is not available for this subset.
Cannot get the split names for the config 'default' of the dataset.
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "tsfile/tsfile_py_cpp.pyx", line 567, in tsfile.tsfile_py_cpp.tsfile_reader_new_c
tsfile.exceptions.FileOpenError: 28:
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
for split_generator in builder._split_generators(
~~~~~~~~~~~~~~~~~~~~~~~~~^
StreamingDownloadManager(base_path=builder.base_path, download_config=download_config)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/tsfile/tsfile.py", line 271, in _split_generators
scan = self._scan_metadata(all_files)
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/tsfile/tsfile.py", line 318, in _scan_metadata
with self._open_reader(file) as reader:
~~~~~~~~~~~~~~~~~^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/tsfile/tsfile.py", line 742, in _open_reader
return TsFileReader(file)
File "tsfile/tsfile_reader.pyx", line 323, in tsfile.tsfile_reader.TsFileReaderPy.__init__
SystemError: <class '_weakrefset.WeakSet'> returned a result with an exception set
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 66, in compute_split_names_from_streaming_response
for split in get_dataset_split_names(
~~~~~~~~~~~~~~~~~~~~~~~^
path=dataset,
^^^^^^^^^^^^^
config_name=config,
^^^^^^^^^^^^^^^^^^^
token=hf_token,
^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
info = get_dataset_config_info(
path,
...<6 lines>...
**config_kwargs,
)
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
LIBERO-10 / LIBERO-Long (TsFile)
Apache TsFile version of lerobot/libero_10.
Overview
LIBERO-10 (the LIBERO-Long suite) is the long-horizon split of the LIBERO lifelong-robot-learning benchmark. It contains human teleoperation demonstrations of 10 distinct long-horizon manipulation tasks performed on a simulated Franka Emika Panda arm — each task chains several sub-goals (e.g. "put both moka pots on the stove", "put the black bowl in the bottom drawer of the cabinet and close it").
- Tasks: 10 long-horizon manipulation tasks (
task_index0–9). - Episodes: 379 demonstrations.
- Frames: 101,469 timesteps total, recorded at 10 fps.
- Robot: Franka Emika Panda (
robot_type = panda). - Source format: LeRobot v3.0.
The 10 tasks (task_index → instruction):
| task_index | instruction |
|---|---|
| 0 | put the white mug on the left plate and put the yellow and white mug on the right plate |
| 1 | put the white mug on the plate and put the chocolate pudding to the right of the plate |
| 2 | put the yellow and white mug in the microwave and close it |
| 3 | turn on the stove and put the moka pot on it |
| 4 | put both the alphabet soup and the cream cheese box in the basket |
| 5 | put both the alphabet soup and the tomato sauce in the basket |
| 6 | put both moka pots on the stove |
| 7 | put both the cream cheese box and the butter in the basket |
| 8 | put the black bowl in the bottom drawer of the cabinet and close it |
| 9 | pick up the book and place it in the back compartment of the caddy |
Schema (TsFile structure)
All 379 episodes are stored in the TsFile table model, using
episode_index and task_index as TAG (device) dimensions.
- Time (INT64, milliseconds) — per-frame timestamp, restarts at 0 for each
episode (
round(timestamp * 1000); 100 ms apart at 10 fps). - episode_index (TAG) — demonstration id (0–378). Query a single episode
with
WHERE episode_index=0. - task_index (TAG) — task id (0–9). Query all demos of one task with
WHERE task_index=3. - frame_index (FIELD, INT64) — frame number within the episode.
- sample_index (FIELD, INT64) — the source global
indexcolumn. - observation_state_0 .. observation_state_7 (FIELD, FLOAT) — 8-D proprioceptive robot state.
- action_0 .. action_6 (FIELD, FLOAT) — 7-DOF action.
The source timestamp column is dropped because it equals Time / 1000.
The converted table is stored across multiple .tsfile shards
(data/libero_10_*.tsfile); together they hold all 101,469 rows.
Usage
Read the .tsfile files with the Apache TsFile Java or Python SDK.
# pip install tsfile
from tsfile import TsFileReader
reader = TsFileReader("data/libero_10_1.tsfile")
# query one episode: WHERE episode_index=0
Videos
The original dataset records two camera streams per episode
(observation.images.image, observation.images.wrist_image). These MP4 videos
are not included here — they are not time-series data. Retrieve them from the
original dataset under
lerobot/libero_10/videos.
Source & license
- Original dataset: https://huggingface.co/datasets/lerobot/libero_10
- Author / publisher: lerobot (LeRobot team)
- Benchmark: LIBERO — Benchmarking Knowledge Transfer for Lifelong Robot Learning, Liu et al., 2023 (arXiv:2306.03310).
- License: Apache-2.0 (inherited from the original dataset)
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