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license: cc-by-4.0
task_categories:
- robotics
tags:
- LeRobot
- libero
- panda
- rlds
configs:
- config_name: default
data_files: data/*/*.parquet
---
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
> **Note:** corrected copy of [`physical-intelligence/libero`](https://huggingface.co/datasets/physical-intelligence/libero). The source was labeled 10 FPS but the trajectories are actually 20 Hz; `fps` and per-frame `timestamp`s have been re-interpreted accordingly (no resampling — frames/actions/states are byte-for-byte unchanged), and the dataset was upgraded to LeRobot codebase version v2.1.
## Dataset Description
This dataset combines four individual Libero datasets: Libero-Spatial, Libero-Object, Libero-Goal and Libero-10.
All datasets were taken from [here](https://huggingface.co/datasets/openvla/modified_libero_rlds) and converted into LeRobot format.
- **Homepage:** https://libero-project.github.io
- **Paper:** https://arxiv.org/abs/2306.03310
- **License:** CC-BY 4.0
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 1693,
"total_frames": 273465,
"total_tasks": 40,
"total_videos": 0,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:1693"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"wrist_image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"state"
]
},
"actions": {
"dtype": "float32",
"shape": [
7
],
"names": [
"actions"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```
## Citation
**BibTeX:**
```bibtex
@article{liu2023libero,
title={LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning},
author={Liu, Bo and Zhu, Yifeng and Gao, Chongkai and Feng, Yihao and Liu, Qiang and Zhu, Yuke and Stone, Peter},
journal={arXiv preprint arXiv:2306.03310},
year={2023}
}
``` |