| --- |
| license: cc-by-4.0 |
| tags: |
| - lerobot |
| - robotics |
| - libero |
| - mujoco |
| pretty_name: LIBERO MuJoCo 3.3.2 libero_object_no_noops_lerobot (detailed LeRobot v3.0) |
| --- |
| |
| # libero_object_no_noops_lerobot: detailed LeRobot v3.0 |
|
|
| This dataset was converted from the Fast-WAM LIBERO MuJoCo 3.3.2 LeRobot v2.1 |
| `libero_object_no_noops_lerobot` partition. It contains successful demonstrations whose historical no-op actions |
| were removed by simulator replay before this conversion. This converter preserves all remaining |
| frames and does not apply any additional filtering. |
|
|
| The original 8D state and 7D action vectors are preserved exactly as |
| `raw_state.ref_state` and `raw_action.ref_action`. Canonical low-dimensional fields follow |
| `failure_rollout_data/dataset.md`; `debug.gripper_eef_*` contains ground-truth next-step relative |
| EEF motion for inspection. Source joint positions are exposed as `raw_state.joint_pos` and |
| `state.joint_pos`. |
|
|
| ## Required camera transform for canonical training |
|
|
| The source `observation.images.image` and `observation.images.wrist_image` videos are preserved |
| unchanged. **For canonical training, horizontally flip both camera views at load time.** The |
| videos are deliberately not rewritten or re-encoded. |
|
|
| The source replay pipeline vertically flips the raw robosuite render and then rotates it by 180 |
| degrees. Those vertical components cancel, leaving the stored image horizontally mirrored. |
|
|
| ```python |
| # NumPy (..., height, width, channels) |
| image = np.flip(image, axis=-2) |
| |
| # PyTorch (..., channels, height, width) |
| image = torch.flip(image, dims=(-1,)) |
| ``` |
|
|
| Apply this only to camera pixels. Do not flip or negate any low-dimensional field. |
|
|
| ## Conversion notes |
|
|
| - The source action gripper is already binary: `0=closed`, `1=open`. |
| - No frames were filtered during this conversion; see `meta/noop_audit.json`. |
| - Rotation and reconstruction checks are in `meta/conversion_validation.json`. |
| - Controller, alignment, filtering, camera, and source assumptions are in |
| `meta/conversion_config.json`. |
| - Every numeric and video statistic includes `q01` and `q99`. |
|
|
