datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
liberoThis dataset was created using LeRobot.
Dataset Description
This dataset combines four individual Libero datasets: Libero-Spatial, Libero-Object, Libero-Goal and Libero-10.
All datasets were taken from here and converted into LeRobot format.
Homepage: https://libero-project.github.io
Paper: https://arxiv.org/abs/2306.03310
License: CC-BY 4.0
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "panda",
"total_episodes": 1693… See the full description on the dataset page: https://huggingface.co/datasets/physical-intelligence/libero.libero-assetsliberoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 1693,
"total_frames": 273465,
"total_tasks": 40,
"chunks_size": 1000,
"fps": 10.0,
"splits": {
"train": "0:1693"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"… See the full description on the dataset page: https://huggingface.co/datasets/HuggingFaceVLA/libero.LIBERO-PRO-assetsLIBERO-assetslibero_90_lerobotThis is the processed dataset for LIBERO 90 in huggingface LeRobot format to be used for π₀ fine-tuning. The original OpenVLA repo here does not contain LIBERO 90, for RLDS -> LeRobot conversion, so I'm publishing this here. LIBERO 90 data has been preprocessed to remove no-ops, unsuccessful trajectories, and had its image observations flipped back upright according to the script OpenVLA authors provided.
libero_cotThis dataset was created using LeRobot.
It contains embodied Chain-of-Thought (CoT) demonstrations for the LIBERO benchmark, featuring paired reasoning and action traces. It was curated as part of the DeepThinkVLA project using a two-stage data engine that distills key frames with a cloud LVLM and scales to full trajectories via a fine-tuned local VLM.
Paper: DeepThinkVLA: Enhancing Reasoning Capability of Vision-Language-Action Models
Repository: https://github.com/OpenBMB/DeepThinkVLA… See the full description on the dataset page: https://huggingface.co/datasets/yinchenghust/libero_cot.libero_gen_goal_chain_train_openpiLIBERO-XWe're thrilled to announce that the LIBERO-X dataset has been officially accepted by RSS 2026 (Robotics: Science and Systems). The complete dataset is now available.
This dataset was created using LeRobot (commit 12f5263).
Homepage: https://meituan.github.io/LIBERO-X/
Paper: https://arxiv.org/pdf/2602.06556
License: CC-BY-4.0
Dataset Description
LIBERO-X introduces finer-grained task-level extensions to expose models to diverse task formulations and workspace configurations… See the full description on the dataset page: https://huggingface.co/datasets/meituan/LIBERO-X.libero_10_imageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 379,
"total_frames": 101469,
"total_tasks": 10,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:379"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/libero_10_image.Liberolibero_with_depthThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "panda",
"total_episodes": 1720,
"total_frames": 280007,
"total_tasks": 40,
"total_videos": 0,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1720"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/daixianjie/libero_with_depth.libero_object_imageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 454,
"total_frames": 66984,
"total_tasks": 10,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:454"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/libero_object_image.libero_spatial_imageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 432,
"total_frames": 52970,
"total_tasks": 10,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:432"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/libero_spatial_image.libero_gen_spatial_combination_train_openpiliberoliberoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 1693,
"total_frames": 273465,
"total_tasks":40,
"chunks_size": 1000,
"fps": 10.0,
"splits": {
"train": "0:1693"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"… See the full description on the dataset page: https://huggingface.co/datasets/theayos/libero.liberoThis dataset was created using LeRobot.
Note: corrected copy of physical-intelligence/libero. The source was labeled 10 FPS but the trajectories are actually 20 Hz; fps and per-frame timestamps have been re-interpreted accordingly (no resampling — frames/actions/states are byte-for-byte unchanged), and the dataset was upgraded to LeRobot codebase version v2.1.
Dataset Description
This dataset combines four individual Libero datasets: Libero-Spatial, Libero-Object, Libero-Goal… See the full description on the dataset page: https://huggingface.co/datasets/TensorAuto/libero.libero_imageThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 1693,
"total_frames": 273465,
"total_tasks": 40,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1693"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features":… See the full description on the dataset page: https://huggingface.co/datasets/theayos/libero_image.MolmoAct2-LIBERO-DatasetThis dataset was created using LeRobot.
MolmoAct2-LIBERO Dataset
This repository contains the merged LeRobot LIBERO dataset used for MolmoAct2 finetuning experiments. It combines all four LIBERO suites used in our finetuning setup: LIBERO-Spatial, LIBERO-Goal, LIBERO-Object, and LIBERO-Long / LIBERO-10.
The merged dataset contains 1,693 episodes and 273,465 frame-level training examples at 10 FPS. It is intended for finetuning only. We did not use this dataset in MolmoAct2… See the full description on the dataset page: https://huggingface.co/datasets/allenai/MolmoAct2-LIBERO-Dataset.liberoThis dataset was created using LeRobot.
Dataset Description
This dataset combines four individual Libero datasets: Libero-Spatial, Libero-Object, Libero-Goal and Libero-10.
All datasets were taken from here and converted into LeRobot format.
Homepage: https://libero-project.github.io
Paper: https://arxiv.org/abs/2306.03310
License: CC-BY 4.0
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "panda",
"total_episodes": 1693… See the full description on the dataset page: https://huggingface.co/datasets/KTH03/libero.libero-10-lerobotThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "panda",
"total_episodes": 379,
"total_frames": 101499,
"total_tasks": 10,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:379"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/Felix-Zhenghao/libero-10-lerobot.libero-90This is the processed dataset for LIBERO 90 in huggingface LeRobot format to be used for π₀ fine-tuning (duplicated from yilin-wu/libero-100). Original Note from yilin-wu: The original OpenVLA repo here does not contain LIBERO 100, for RLDS -> LeRobot conversion, so I'm publishing this here. LIBERO 90 data has been preprocessed to remove no-ops, unsuccessful trajectories, and had its image observations flipped back upright according to the script OpenVLA authors provided.
liberoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 1693,
"total_frames": 273465,
"total_tasks": 40,
"chunks_size": 1000,
"fps": 10.0,
"splits": {
"train": "0:1693"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"… See the full description on the dataset page: https://huggingface.co/datasets/20d7733/libero.libero_symboliclibero_v21This dataset was created using LeRobot.
Dataset Description
This dataset combines four individual Libero datasets: Libero-Spatial, Libero-Object, Libero-Goal and Libero-10.
All datasets were taken from here and converted into LeRobot format.
Homepage: https://libero-project.github.io
Paper: https://arxiv.org/abs/2306.03310
License: CC-BY 4.0
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.0",
"robot_type": "panda",
"total_episodes": 1693… See the full description on the dataset page: https://huggingface.co/datasets/MrFleix/libero_v21.liberoThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 1693,
"total_frames": 273465,
"total_tasks": 40,
"total_videos": 0,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1693"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/johnjaejunlee95/libero.libero_fullThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 807,
"total_frames": 153511,
"total_tasks": 20,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:807"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/siamaky1984/libero_full.libero-icl-finetune-plus-90libero_90This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 3917,
"total_frames": 567494,
"total_tasks": 73,
"total_videos": 0,
"total_chunks": 4,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:3917"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/antoniomari/libero_90.