flex-pi/libero_mujoco3.3.2_depth

LIBERO with depth (MuJoCo 3.3.2 re-render)

The four standard LIBERO benchmark suites, re-rendered under MuJoCo 3.3.2 and republished in LeRobot v2.1 format with per-camera metric depth added alongside the usual RGB. no_noops means idle frames have been stripped.

Contents

This repo holds four independent LeRobot datasets, one per suite:

suite	episodes	frames	tasks
libero_10_no_noops_lerobot	388	104,160	10
libero_goal_no_noops_lerobot	433	52,895	10
libero_object_no_noops_lerobot	457	67,309	10
libero_spatial_no_noops_lerobot	433	53,128	10
total	1711	277,492	40

Each subdirectory is a self-contained LeRobot dataset (meta/, data/, videos/).

Format

Robot	franka
fps	20
RGB	512×512, 2 cameras, .mp4
Depth	512×512, 2 cameras, FFV1 .mkv, uint16 millimetres
State / action	8-D / 7-D
LeRobot version	v2.1

Depth decoding is identical to the YAM datasets in this org — see e.g. flex-pi/self_repair_gripper_bc. Depth is declared as dtype: "depth_video", so the stock LeRobot loader ignores it.

Loading

Because this repo contains four datasets, point the loader at a subdirectory rather than the repo root:

from huggingface_hub import snapshot_download
p = snapshot_download("flex-pi/libero_mujoco3.3.2_depth", repo_type="dataset",
                      allow_patterns="libero_spatial_no_noops_lerobot/*")

Citation

Please cite the original LIBERO benchmark in addition to the Flex-π project.