| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LIBERO |
| - robosuite |
| - mujoco |
| - visual-domain-variation |
| --- |
| |
| # LIBERO Spatial Visual Variations |
|
|
| This derived dataset expands `libero_spatial` with six visual conditions per |
| source trajectory: the original LIBERO appearance plus five scene-level visual |
| palettes. It preserves the original task states, actions, rewards, dones, |
| robot state vectors, proprioceptive observations, task language, and BDDL task |
| semantics. |
|
|
| Visual conditions: |
|
|
| - `original`: Original - Default LIBERO spatial visual appearance. |
| - `nordic-sage`: Nordic Sage - White marble, pale plaster, light wood, sage cabinet, warm showroom light. |
| - `midnight-fjord`: Midnight Fjord - Dark floor, deep blue wall, gray table, navy cabinet, cool low-key light. |
| - `terracotta-pop`: Terracotta Pop - Brown ceramic, yellow linen, wood table, clay cabinet, warm terracotta light. |
| - `alpine-oak`: Alpine Oak - Wood planks, white wall, light wood table, white-oak cabinet, clear daylight. |
| - `graphite-gallery`: Graphite Gallery - Gray ceramic, dark plaster, gray table, charcoal cabinet, crisp spotlight. |
|
|
| The dataset contains ten LIBERO spatial tasks. Each task file contains the |
| first ten source demonstrations rendered under all six visual conditions, for |
| 60 trajectories per task and 600 trajectories total. |
|
|
| Within every task HDF5, the trajectory blocks are ordered as: |
|
|
| ```text |
| demo_0..demo_9 original |
| demo_10..demo_19 nordic-sage |
| demo_20..demo_29 midnight-fjord |
| demo_30..demo_39 terracotta-pop |
| demo_40..demo_49 alpine-oak |
| demo_50..demo_59 graphite-gallery |
| ``` |
|
|
| Prefer reading `visual_condition_key` and `source_demo_index` from each |
| episode's attributes instead of relying only on this index convention. |
|
|
| Each episode stores explicit metadata: |
|
|
| - `task_name`, `task_index`, `language_instruction` |
| - `source_demo_key`, `source_demo_index`, `source_task_file` |
| - `visual_condition_key`, `visual_condition_name`, `background_style` |
| - `camera_calibration` group with per-camera intrinsics, per-frame extrinsics, |
| and per-frame world-to-pixel projection matrices |
|
|
| Common trajectory and observation keys follow the usual LIBERO HDF5 layout: |
|
|
| ```text |
| data/demo_*/actions |
| data/demo_*/states |
| data/demo_*/robot_states |
| data/demo_*/rewards |
| data/demo_*/dones |
| data/demo_*/obs/agentview_rgb |
| data/demo_*/obs/eye_in_hand_rgb |
| data/demo_*/obs/joint_states |
| data/demo_*/obs/gripper_states |
| data/demo_*/obs/ee_pos |
| data/demo_*/obs/ee_ori |
| data/demo_*/obs/ee_states |
| ``` |
|
|
| Camera calibration is stored at: |
|
|
| ```text |
| data/demo_*/camera_calibration/<camera_name>/intrinsic_matrix |
| data/demo_*/camera_calibration/<camera_name>/extrinsic_matrices |
| data/demo_*/camera_calibration/<camera_name>/world_to_pixel_matrices |
| ``` |
|
|
| Calibration is available for both `agentview` and `robot0_eye_in_hand`. |
| The array shapes are: |
|
|
| ```text |
| intrinsic_matrix (3, 3) |
| extrinsic_matrices (T, 4, 4) |
| world_to_pixel_matrices (T, 4, 4) |
| ``` |
|
|
| The uploaded dataset was re-downloaded from Hugging Face and validated for: |
|
|
| - 10 task files |
| - 600 total trajectories |
| - expected visual-condition blocks |
| - expected RGB observation shapes `(T, 128, 128, 3)` |
| - expected camera calibration groups and matrix shapes |
|
|
