Convert LIBERO actions from relative to absolute poses
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
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- README.md +62 -3
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README.md
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---
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license: apache-2.0
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---
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license: apache-2.0
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task_categories:
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- robotics
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tags:
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- LeRobot
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- LIBERO
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- absolute-actions
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configs:
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- config_name: default
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data_files: data/*/*.parquet
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---
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# LIBERO Dataset (Absolute Actions)
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This dataset is a converted version of the [LIBERO](https://libero-project.github.io/) robot learning benchmark, where actions have been converted from **relative (delta) commands** to **absolute end-effector poses**.
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## Conversion Details
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- **Original Dataset**: HuggingFaceVLA/libero
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- **Action Format**: Absolute end-effector poses `[x, y, z, axis_angle_x, axis_angle_y, axis_angle_z, gripper]`
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- `(x, y, z)`: Absolute position in world coordinates
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- `(axis_angle_x, axis_angle_y, axis_angle_z)`: Rotation as axis-angle representation
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- `gripper`: Gripper state (-1: open, 1: closed)
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The conversion was performed by simulating each episode in the LIBERO environment and recording the absolute end-effector states.
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## Dataset Structure
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Same structure as the original LeRobot LIBERO dataset:
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- `data/chunk-000/`: Main dataset parquet files
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- `meta/`: Metadata including info.json, stats.json, tasks.parquet, and episode statistics
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## Usage
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```python
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from datasets import load_dataset
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dataset = load_dataset("albus2024/libero_absolute", split="train")
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# Access absolute actions
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for episode in dataset:
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action = episode['action'] # [x, y, z, ax, ay, az, gripper]
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# action is now in absolute coordinates
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```
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## Citation
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If you use this dataset, please cite both LIBERO and this conversion:
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```bibtex
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@inproceedings{liu2023libero,
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title={LIBERO: Benchmarking Knowledge Transfer in Lifelong Robot Learning},
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author={Liu, Bo and Zhu, Yifeng and Gao, Chongkai and Feng, Yihao and Liu, Qiang and Zhu, Yuke and Stone, Peter},
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booktitle={NeurIPS 2023 Datasets and Benchmarks Track},
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year={2023}
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}
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```
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## License
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Apache 2.0 (same as original LIBERO dataset)
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