metadata
license: apache-2.0
tags:
- robotics
- lerobot
- grounding
Deconfounded spatial set (LIBERO)
Part of the Galahad release · Project page · Code + battery + generator
535 episodes over 10 scenes; both identical bowls collected as targets under their distinct spatial phrases (side ⟂ identity), shared relation phrases across scenes at different layouts. Cures the base's canonical-bowl shortcut (SWAP-OBEY 50%=chance → 86%+).
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.