Datasetpublic

hello3x3/libero_spatial_no_noops_1.0.0_lerobot_v3.0

libero_spatial_no_noops_1.0.0_lerobot Dataset Description This dataset is the LIBERO-Spatial subset of the LIBERO benchmark, converted to LeRobot v3.0 format. 10 spatial generalization tasks. All tasks share the same objects but differ in their spatial layout/configuration, testing the agent's ability to generalize to new object placements. Note: This dataset has been filtered to remove no-op frames (idle frames where the robot does not execute meaningful… See the full description on the dataset page: https://huggingface.co/datasets/hello3x3/libero_spatial_no_noops_1.0.0_lerobot_v3.0.

sourceHugging Faceapache-2.0updated 4mo agoView on Hugging Face

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Dataset Card

liberospatialnonoops1.0.0_lerobot

Dataset Description

This dataset is the LIBERO-Spatial subset of the LIBERO benchmark, converted to LeRobot v3.0 format.

10 spatial generalization tasks. All tasks share the same objects but differ in their spatial layout/configuration, testing the agent's ability to generalize to new object placements.

Note: This dataset has been filtered to remove no-op frames (idle frames where the robot does not execute meaningful actions). This results in more efficient training data.

Source

—Original benchmark: LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning (Liu et al., 2023)
—Source dataset: IPEC-COMMUNITY/libero_spatial_no_noops_1.0.0_lerobot by IPEC-COMMUNITY
—Conversion: v2.1 -> v3.0 using lerobot/datasets/v30/convert_dataset_v21_to_v30.py

Dataset Statistics

Property	Value
Robot	Franka Panda
Total episodes	432
Total frames	52,970
Total tasks	10
FPS	20
Total size	~300 MB
Codebase version	v3.0

Features

Feature	Dtype	Shape
`observation.images.wrist_image`	video	[256, 256, 3]
`observation.images.image`	video	[256, 256, 3]
`observation.state`	float32	[8]
`action`	float32	[7]
`timestamp`	float32	[1]
`frame_index`	int64	[1]
`episode_index`	int64	[1]
`index`	int64	[1]
`task_index`	int64	[1]

Tasks

task_index	Description
0	pick up the black bowl next to the cookie box and place it on the plate
1	pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
2	pick up the black bowl on the ramekin and place it on the plate
3	pick up the black bowl on the stove and place it on the plate
4	pick up the black bowl between the plate and the ramekin and place it on the plate
5	pick up the black bowl on the cookie box and place it on the plate
6	pick up the black bowl next to the plate and place it on the plate
7	pick up the black bowl next to the ramekin and place it on the plate
8	pick up the black bowl from table center and place it on the plate
9	pick up the black bowl on the wooden cabinet and place it on the plate

Usage

python

from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset(
    "libero_spatial_no_noops_1.0.0_lerobot",
    root="/path/to/datasets/libero_spatial_no_noops_1.0.0_lerobot",
)

# Access a sample
sample = ds[0]
print(sample["observation.images.image"])  # [3, 256, 256]
print(sample["action"])                     # [7]
print(sample["task"])                       # natural language task description