Upload folder using huggingface_hub

README.md

@@ -0,0 +1,103 @@
+# LIBERO-Cosmos-Policy
+
+## Dataset Description
+
+LIBERO-Cosmos-Policy is a modified version of the [LIBERO simulation benchmark dataset](https://github.com/Lifelong-Robot-Learning/LIBERO), created as part of the Cosmos Policy project.
+
+### Key Modifications
+
+Our modifications include the following:
+
+1. **Higher-resolution images**: Images are saved at 256×256 pixels (vs. 128×128 in the original).
+2. **No-op actions filtering**: Transitions with "no-op" (zero) actions that don't change the robot's state are filtered out.
+3. **JPEG compression**: Images are JPEG-compressed to reduce storage requirements.
+4. **Deterministic regeneration**: All demonstrations are replayed in the simulation environment with deterministic seeding for reproducibility.
+
+### Dataset Structure
+
+The dataset is organized into two main directories:
+
+- **`success_only/`**: Contains only successful demonstration episodes (filtered version). These are demonstrations that succeeded when replayed in the simulation environments (it turns out that some demonstrations fail due to human errors during teleoperation). This set is used to train Cosmos Policy to generate high-quality actions.
+- **`all_episodes/`**: Contains all episodes, including both successful and failed demonstrations. This set is used to train Cosmos Policy's world model and value function.
+
+Each directory contains data from four task suites: LIBERO-Spatial, LIBERO-Object, LIBERO-Goal, and LIBERO-10 (also called LIBERO-Long).
+- `libero_spatial` - Tasks testing spatial reasoning (10 tasks, 50 demos each)
+- `libero_object` - Tasks testing object manipulation (10 tasks, 50 demos each)
+- `libero_goal` - Tasks testing language-specified goals (10 tasks, 50 demos each)
+- `libero_10` - Long-horizon manipulation tasks (10 tasks, 50 demos each)
+
+### Data Format
+
+Each HDF5 file in `success_only/` contains:
+```
+data/
+├── demo_0/
+│   ├── obs/
+│   │   ├── agentview_rgb_jpeg     # Third-person camera images (JPEG compressed)
+│   │   ├── eye_in_hand_rgb_jpeg   # Wrist camera images (JPEG compressed)
+│   │   ├── gripper_states         # Gripper joint positions
+│   │   ├── joint_states           # Robot joint positions
+│   │   ├── ee_states              # End-effector states (position + orientation)
+│   │   ├── ee_pos                 # End-effector position
+│   │   └── ee_ori                 # End-effector orientation
+│   ├── actions                     # Action sequence
+│   ├── states                      # Environment states
+│   ├── robot_states                # Combined robot state (gripper + EEF pos + EEF quat)
+│   ├── rewards                     # Sparse rewards (0 until final timestep)
+│   └── dones                       # Episode termination flags
+├── demo_1/
+...
+```
+
+The `all_episodes/` directory contains rollout data in a different format. Each episode is stored as a separate HDF5 file with the naming pattern:
+```
+episode_data--suite={suite_name}--{timestamp}--task={task_id}--ep={episode_num}--success={True/False}--regen_demo.hdf5
+```
+
+Each of these HDF5 files contains:
+```
+# Datasets (arrays)
+primary_images_jpeg      # Third-person camera images (JPEG compressed), shape: (T, H, W, 3)
+wrist_images_jpeg        # Wrist camera images (JPEG compressed), shape: (T, H, W, 3)
+proprio                  # Proprioceptive state (gripper + EEF pos + quat), shape: (T, 9)
+actions                  # Action sequence, shape: (T, 7)
+
+# Attributes (scalars/metadata)
+success                  # Boolean: True if episode succeeded, False otherwise
+task_description         # String: Natural language task description
+```
+
+### Statistics
+
+- **Total demonstrations**: 500 per task suite before filtering (4 suites = 2000 total)
+- **Success rate**: ~80-90% (varies by task suite)
+- **Image resolution**: 256×256×3 (RGB)
+- **Action dimensions**: 7 (6-DoF end-effector control + 1 gripper)
+- **Proprioception dimensions**: 9 (2 gripper joints + 3 EEF position + 4 EEF quaternion)
+
+### Original LIBERO Dataset
+
+This dataset is derived from the original LIBERO benchmark:
+- **Paper**: [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://arxiv.org/abs/2306.03310)
+- **Repository**: https://github.com/Lifelong-Robot-Learning/LIBERO
+- **License**: CC BY 4.0
+
+### Citation
+
+If you use this dataset, please cite both the original LIBERO paper and the Cosmos Policy paper:
+<!-- ```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={Advances in Neural Information Processing Systems},
+  volume={36},
+  pages={44776--44791},
+  year={2023}
+}
+
+# TODO: Add Cosmos Policy BibTeX
+``` -->
+
+### License
+
+Creative Commons Attribution 4.0 International (CC BY 4.0)

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=1--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1d0c70ac97d648538c0ba7407dda806f002b256f851ca49c56604ef91652a96
+size 15370032

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=10--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86cde1d3a55bdedea16cd4b39f5d7a4e39a23ab57a92d7bd98fbac1db7ae799c
+size 8950392

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=11--success=False--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b687fd2bc39b0b773c4579702e52b706e172fc97495808540098908a0c37f891
+size 11384808

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=12--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:801139c62cb5ad7ea47f02357c541a7e99d4fc158bb87ebbed9647c66368450e
+size 9910384

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=13--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54eac238fa13f75b7ccdfb8ead30689cceb457908131e292706f65ba54494c2b
+size 10401520

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=14--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f4ffa6bc7543cce079845bf0c649e1c3c75bdd48e1ce7db7fd1de9ca5c4785a
+size 11519152

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=15--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcbc733ef207c02767bc24e038ca3e7f49dad1b0184bb00a6b870c6f4b2dc51e
+size 11169416

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=16--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4343aa6db40a7a04fd66b4a8b8354614e938d9b9f98316a2138bab8b94a83e28
+size 9392168

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=17--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6633aca0cd8ad3f456f55874f5fb8576cb57727baefe1c329cff1e808ac41a24
+size 10961448

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=18--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e15f80ab45e243a450c9cccb1b0969da54e0fd4546b2aa54eee9f6f72d76513
+size 11027096

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=19--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98b8c2ae0616dffe94d9ce8cba9e943ac852abc05befd95fa46a89c6fa66c72f
+size 11090104

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=2--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f68fdbedc7eb53b0f8722b0a36c857411367ddebc21f237ce22e791c0cd28418
+size 13320608

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=20--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3655efc13a012db9f8139ecf25dc0782bdb5aaaa439187cb69cd9067cd9e189
+size 12047048

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=21--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05266dc7db4c8f8cec732b17524f375f580ddf5fc3e14bd777c5f63c9692ea9d
+size 13284488

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=22--success=False--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c71b065bb597c18dd8faee7ce44d26e9fceef2e688da85de4d33f86ec3a25b2
+size 11233616

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=23--success=False--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fe2a206e27c316871bc55c48da3366ac34efb0fa3551a8da1e50f1929aa994d
+size 11125208

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=24--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8aa70bac833d05088d5b0858d634d881853614bf0409ee7522645d8afc4eb83b
+size 9837160

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=25--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41833c79bdcea962279a64fe98b85ff1b8d2da694f58194e4208d74c90bd86fc
+size 11619768

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=26--success=False--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92e48c6c721d64f96d42ecc3a827a6a6a2a614991a093f1c786e8d5a9b7c292f
+size 13031072

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=27--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:881f8a9a633df4b5bc613bbfb6653e21ce0bbb2fe9d0fc8716d1ac5d9a9e2332
+size 11852880

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=28--success=False--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0245d82cc51b37185122fe5aab93da848d52dfb23799e81079f69b32c9b60d3c
+size 10373208

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=29--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24d6981107390f3d1ccf5275617f61ab0d2509c60885331d1c0dd288484341dc
+size 11816704

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=3--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdefcde48398277636ccc1445ad65886289f57e5444202b740ae8bf6c4afbb32
+size 10036216

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=30--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4de3108dcafe7cfc9f906438d8087455da17a6ce6f0b4e3a4bbb253cae54360f
+size 10172080

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=31--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ab5355f0428755bc11cbda865dc5b9ee9c41684a2d73929bfdb7170c17849a3
+size 11104504

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=32--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1720b4e5728fca3edc1d3012e377a62eec80fd17eed1e6a1f17fc4c99165dd94
+size 11048128

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=33--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e3e37e8aabd3486d05d928f8f22a63199105844391b0603c2074c2a6cc59f33
+size 13485920

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=34--success=False--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78530a0146cc373115f9c9de1776d4b86866b18a61671a42d6223d6d737fee9b
+size 14835248

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=35--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0709e1196c8c7df4b746bc27dfe797bcafcee9b6162d5e38cde542b2e038486
+size 10818120

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=36--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de8b17e6bf82d87b5a7a824dcca70224dec66d31b664c6b0cc6865a21f28d4fd
+size 10818144

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=37--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea99ea4644be17c91e76afa99def1340646310cf6b3b6110b80a8d701738d18a
+size 13786944

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=38--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00d6bcb2bd716f99e1d7520489405ae02df121c32ae302a6121ef354aa3e8496
+size 10532984

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=39--success=False--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4515ad9b072e134dadf3b29c0fa76337805e07e490ecd963f313365273d647d
+size 11118032

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=4--success=False--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5cd56364e03e657dea2e1d3ccef6c8cd3b06b0c419aa396bc5fa8237183ce89
+size 10957696

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=40--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:955c396fc558ecd4e0a7fb08aabc001c3f2aa36d8b443dce3ab0f3dad8888f4e
+size 14501464

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=41--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c46672efc61a310e35b3aea717fc062307df16b2a50865697428b0371d70a4c3
+size 10731424

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=42--success=False--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fce1b3cfdca44091fe86573c1345fd14590a848fa4a0f6c451c788a04e2d5258
+size 11488768

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=43--success=False--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:198485db2c94758b3e6aaeb6f1311ea8b983f9c6049284e5b8534f53b8644978
+size 11689824

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=44--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8562222669330e5f316bb80590fb5c78548015694741c3c21177ba001a8ef8aa
+size 10643664

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=45--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e879231e7d6518631eba73559bc8a713ba70a4fffc4bdce6a23f4347ce691f0
+size 12672464

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=46--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ec5c9830378b3bc2b1c9559ab1ddbe071eef3436a1eb61621c7bba3896f4079
+size 13446616

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=47--success=False--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad65e709577c42bba378c5dd9529b567efbbf46423153e06c38e45130dca0a1e
+size 14678448

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=48--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cc8e27012e5df6695add2b64b75b77b452223e915110f97f2b2e6c183e9ce0c
+size 12324616

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=49--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:876e95c5183b0b5fd96c6054bfb3ea896a3285ebb346bfe8dc66b93579f0ed1d
+size 10859296

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=5--success=False--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83ca12445506de599d7bb2773235e5a22c552c69faa30e4a2658966b76f34b18
+size 12314192

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=50--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:907f1f69c3754e938ccb67df9bf0831124afddf961127fe95d9bb9a4417fab6e
+size 11041816

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=6--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5324230b46be7e333a08f51a2fb28c69a35536475cfd15dec7abcf99f0db6b1
+size 12645792

all_episodes/episode_data--suite=libero_10--2025_08_03-18_55_47--task=0--ep=7--success=True--regen_demo.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12dd9641b3a3971c994d0da02dc3b61db8e59955223e9f93c7b40ff94efdedfa
+size 10454568