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license: mit |
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# Dataset Card for LIBERO-PRO Perturbation Dataset |
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This dataset contains the **`bddl`** and **`init`** files of LIBERO-PRO configurations under **object**, **relation**, **semantic**, **task**, and **environment** perturbations. The dataset supports direct integration with the [LIBERO-PRO](https://github.com/Zxy-MLlab/LIBERO-PRO) framework. |
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## Dataset Details |
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### Dataset Description |
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- **Curated by:** LIBERO-PRO Research Team |
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- **Affiliation:** MLLab, Huazhong University of Science and Technology |
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- **Language(s) (NLP):** English (instructional text) |
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- **License:** MIT |
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- **Primary Purpose:** Evaluation of VLA models under structured perturbations |
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This dataset extends the original [LIBERO benchmark](https://github.com/Lifelong-Robot-Learning/LIBERO/) by introducing **systematic perturbations** in five dimensions: |
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1. **Object Perturbation:** Modifies object appearance, color, and scale to test adaptability to visual shifts. |
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2. **Position Perturbation:** Relocates objects within feasible spatial bounds to evaluate the model’s adaptability to spatial position changes. |
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3. **Semantic Perturbation:** Paraphrases natural language commands to probe linguistic robustness. |
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4. **Task Perturbation:** Redefines task logic and target states to test procedural generalization. |
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5. **Environment Perturbation:** Replaces working environments to evaluate cross-environment robustness. |
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Each perturbation includes corresponding **`init` files** (initial environment configurations) and **`bddl` files** (behavioral descriptions in BDDL format). |
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--- |
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## Uses |
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**How to use:** |
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1. Copy all **`.bddl`** files to: |
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``` |
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LIBERO-PRO/libero/libero/bddl_files/ |
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``` |
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2. Copy all **`init`** files to: |
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``` |
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LIBERO-PRO/libero/libero/init_files/ |
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``` |
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3. Follow the quick start instructions provided in the [LIBERO-PRO README](https://github.com/Zxy-MLlab/LIBERO-PRO#readme). |
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## Dataset Structure |
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Each perturbation category contains: |
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- **`init/`**: Environment initialization files defining object placement and world state. |
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- **`bddl/`**: Task goal definitions in Behavior Domain Definition Language. |
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## Citation |
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If you use this dataset, please cite the LIBERO-PRO project: |
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**BibTeX:** |
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```bibtex |
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@misc{zhou2025liberopro, |
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title={LIBERO-PRO: Benchmarking Perturbation Robustness of Visual Language Action Models}, |
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author={Zhou, Xueyang and Tie, Guiyao and Zhang, Guowen and Wang, Hechang and Zhou, Pan}, |
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year={2025}, |
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howpublished={\url{https://github.com/Zxy-MLlab/LIBERO-PRO}}, |
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} |
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``` |
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## Dataset Card Authors |
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- Xueyang Zhou |
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- Yangming Xu |
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## Dataset Card Contact |
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For questions or issues, please contact: |
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📧 **d202480819@hust.edu.cn** |
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