---
license: apache-2.0
tags:
  - robotics
  - lerobot
  - grounding
---

# Deconfounded object-identity set (LIBERO)

> Part of the [Galahad](https://huggingface.co/phi-monster/Galahad) release · [Project page](https://xn--7xa.monster/Galahad/) · [Code + battery + generator](https://github.com/phi-monster/Galahad)

900 episodes, 90 per object across all 10 LIBERO objects, perfect role balance: every object appears as the target and as a distractor across randomized positions, so **the instruction is the only predictor of the target**. The training set behind the object-substitution cure (base 13.5% → 94.5%).

LeRobot v3 format. Generated by the deconfounding generators in the release repo; the generator produces the exam (the battery) and the medicine (the training set) from the same code.