datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
Liberoliberodeva_libero
DeVA — LIBERO (processed)
Processed LIBERO data for DeVA, a robot video-world
model with affordance + depth physical guidance. Derived from
Lifelong-Robot-Learning/LIBERO —
please cite the original benchmark as well.
Episodes
2,000
Frames
338,575
Video
432 × 768, 16 fps (2 views tiled side by side)
Views
agentview, eye_in_hand
Action dim
7 (absolute)
Proprio state
not included
Size
9.6 GB
Download
hf download mengqz9/deva_libero… See the full description on the dataset page: https://huggingface.co/datasets/mengqz9/deva_libero.libero_hdfr_lerobot_trackmerged_libero_scale_10_mask_depth_noops_lerobotThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 200,
"total_frames": 33587,
"total_tasks": 40,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:200"
},
"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/vrfai/merged_libero_scale_10_mask_depth_noops_lerobot.libero-plus-collectmerged_libero_scale_100_mask_depth_noops_lerobotThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 1676,
"total_frames": 269918,
"total_tasks": 40,
"total_videos": 0,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1676"
},
"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/vrfai/merged_libero_scale_100_mask_depth_noops_lerobot.libero_10_subtasksThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "libero_panda",
"total_episodes": 500,
"total_frames": 138090,
"total_tasks": 10,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 10.0,
"splits": {
"train": "0:500"},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": null… See the full description on the dataset page: https://huggingface.co/datasets/KeWangRobotics/libero_10_subtasks.liberolibero_spatial_imagelibero_ocThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 1591,
"total_frames": 258991,
"total_tasks": 40,
"total_videos": 0,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1591"
},
"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/thanyu/libero_oc.libero_hdfr_lerobot_track_datasetslibero_rfmOpenVLA-on-libero-base
OpenVLA on LIBERO-base
OpenVLA rollouts on the standard LIBERO base suites: libero_spatial, libero_object, libero_goal, and libero_10.
The target collection is 40 tasks with 500 episodes per task, for 20,000 episodes total.
Episodes are uploaded incrementally while collection is running. See metadata/upload_state.json for upload progress.
libero_spatial_lerobot_mask_depthThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 500,
"total_frames": 62250,
"total_tasks": 10,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:500"
},
"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/Heimrih/libero_spatial_lerobot_mask_depth.libero-dexFastWAM-libero-plusmerged_libero_s40_mdnl_original_s40_synthetic_20ep_2_hard_task_5ep_all_normal_taskThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 800,
"total_frames": 133851,
"total_tasks": 40,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:800"
},
"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/ducido/merged_libero_s40_mdnl_original_s40_synthetic_20ep_2_hard_task_5ep_all_normal_task.libero-pickandplace-segment-next-scene-ab-2merged_libero_scale_40_mask_depth_noops_lerobotThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 800,
"total_frames": 133851,
"total_tasks": 40,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:800"
},
"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/vrfai/merged_libero_scale_40_mask_depth_noops_lerobot.libero_all_v3data_libero_dreamgen_stage1_s10This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 200,
"total_frames": 33587,
"total_tasks": 40,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:200"
},
"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/vrfai/data_libero_dreamgen_stage1_s10.arp-decision131-robocasa-libero-20
Decision-131 complete RoboCasa + LIBERO-PRO subset
This repository contains the complete data package requested for the 20 task
identities selected in ARP decision 131.
RoboCasa human demonstrations
10 target tasks
5,101 episodes
2,680,229 frames at 20 Hz
Actions, robot state, episode/task metadata, and three synchronized 256×256
H.264 camera streams
176 MP4 files and 8 Parquet files
The episodes were selected from
lerobot/robocasa_target_human_unified
at… See the full description on the dataset page: https://huggingface.co/datasets/mojimoji61/arp-decision131-robocasa-libero-20.libero_openpi_v30libero_10_image_subtasklibero_cot_contiousmerged_libero_scale_10_mask_depth_noops_lerobot_original_s10_synthetic_all_eps_all_task_PAThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 200,
"total_frames": 33587,
"total_tasks": 40,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:200"
},
"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/ducido/merged_libero_scale_10_mask_depth_noops_lerobot_original_s10_synthetic_all_eps_all_task_PA.sketch_libero_distillThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 182,
"total_frames": 22629,
"total_tasks": 10,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:182"
},
"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/ductaingn/sketch_libero_distill.libero10-dense-object-mask-ecot
LIBERO-10 Object Masks + ECoT Reasoning Traces
Object-mask annotations and Embodied Chain-of-Thought (ECoT) reasoning traces for
the 379 demonstrations of the LIBERO-10 (libero_10_image) benchmark.
Generated for the CoT-VLA project. Per-object segmentation masks were produced
with interactive SAM2 point/box prompts and bidirectional video propagation; the CoT
reasoning traces were hand-refined per task and re-timed to each episode's actuator
(gripper + motion) signal.
Source… See the full description on the dataset page: https://huggingface.co/datasets/mwnuk/libero10-dense-object-mask-ecot.LIBERO-3D
LIBERO-3D
LIBERO-3D is a processed LIBERO demonstration dataset packaged for 3D-aware robot learning. It keeps the original LIBERO task suites while converting each trajectory into per-episode .npz files with RGB, depth, camera parameters, segmentation, states, and actions.
This repository is intended as a storage and distribution repo for dataset files. The Hugging Face dataset viewer is not expected to render these files directly because the payload is stored as binary .npz… See the full description on the dataset page: https://huggingface.co/datasets/Ayana666888/LIBERO-3D.