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

# Deconfounded spatial 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)

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.