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-datasets
LIBERO Datasets
This is a repo that stores the LIBERO datasets. The structure of the dataset can be found below:
libero_object/
libero_spatial/
libero_goal/
libero_90/
libero_10/
Demonstrations of each task is stored in a hdf5 file. Please refer to download script from the official LIBERO repo for more details.
libero_safetylibero-assetsmodified_libero_rlds
Modified LIBERO RLDS Datasets
This repository contains the four modified LIBERO datasets
used in the OpenVLA fine-tuning experiments, stored in RLDS data format. See Appendix E in the
OpenVLA paper for details about the fine-tuning experiments and
specific dataset modifications, and see the OpenVLA GitHub README
for instructions on how to run OpenVLA in LIBERO environments.
Citation
BibTeX:
@article{kim24openvla,
title={OpenVLA: An Open-Source… See the full description on the dataset page: https://huggingface.co/datasets/openvla/modified_libero_rlds.libero_plus_lerobotRECAP-Libero10-Task0-48succ-DataLibero-XVLA-formatliberoThis 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,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 10.0,
"splits": {
"train": "0:1693"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/libero.LIBERO-plus
LIBERO-Plus: In-depth Robustness Analysis of Vision-Language-Action Models
📄 Paper |
🏗️ Repo |
🌐 Website |
🤗 Assets |
🤗 Model |
📁 Training Dataset
🔥 Overview
This repository contains the official implementation and benchmark for our paper "In-depth Robustness Analysis for Vision-Language-Action Models". We systematically expose the hidden vulnerabilities of contemporary VLA models through comprehensive robustness evaluation across seven perturbation… See the full description on the dataset page: https://huggingface.co/datasets/Sylvest/LIBERO-plus.OmniAction-LIBERO
RoboOmni: Proactive Robot Manipulation in Omni-modal Context
📖 arXiv Paper (Accepted to ICLR 2026 🎉) |
🌐 Website |
🤗 Model |
🤗 Dataset |
🛠️ Github |
Recent advances in Multimodal Large Language Models (MLLMs) have driven rapid progress in Vision–Language–Action (VLA) models for robotic manipulation. Although effective in many scenarios, current approaches largely rely on explicit instructions, whereas in real-world interactions, humans rarely issue… See the full description on the dataset page: https://huggingface.co/datasets/OpenMOSS-Team/OmniAction-LIBERO.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/HuggingFaceVLA/libero.libero_gen_goal_chain_hdf5LIBERO-assetsLIBERO-PRO-assetslibero-microwave-grm-rollouts
LIBERO Microwave GRM Rollouts
Dense-reward-annotated rollout dataset from GRPO training of OpenVLA-OFT on LIBERO-10 Task 9 ("put the yellow and white mug in the microwave and close it").
Dataset
Stat
Value
Episodes
~2,100 (T >= 5 steps)
Format
LeRobot (parquet + images)
Task
put the yellow and white mug in the microwave and close it
Size
41 GB
Reward model
Robo-Dopamine GRM-3B
Policy
OpenVLA-OFT (LoRA, GRPO-trained)
Simulator
LIBERO… See the full description on the dataset page: https://huggingface.co/datasets/Auryal/libero-microwave-grm-rollouts.rabench-vlabench-unified-libero-v1
VLABench Data Prep
This directory contains an independent, non-Docker data conversion workflow for
turning lerobot/libero into an episode-based HDF5 format that is easier for
RABench agents to consume.
Goal
The source lerobot/libero dataset is distributed as:
parquet tables for numeric columns
mp4 video shards for image streams
separate metadata parquet files for tasks and episode boundaries
That structure is compact, but it is awkward for an agent to discover and use… See the full description on the dataset page: https://huggingface.co/datasets/BiggerXu/rabench-vlabench-unified-libero-v1.libero_spatial_no_noops_1.0.0_lerobotlibero_gen_spatial_combination_hdf5libero_object_no_noops_1.0.0_lerobotlibero_goal_no_noops_1.0.0_lerobotlibero_10_no_noops_1.0.0_lerobotlibero_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_plusLIBERO-fastwam
LIBERO MuJoCo 3.3.2 for FastWAM
This repository releases the preprocessed LIBERO data used by FastWAM in both
LeRobot 2.1 and LeRobot 3.0 formats.
This is not an official upstream LIBERO data dump. It is a paper-specific
processed release for FastWAM training and reproducibility.
Repository layout
README.md
# LeRobot 2.1 archives (existing release)
libero_10_no_noops_lerobot.tar.gz
libero_goal_no_noops_lerobot.tar.gz
libero_object_no_noops_lerobot.tar.gz… See the full description on the dataset page: https://huggingface.co/datasets/yuanty/LIBERO-fastwam.LIBERO-Pro
Dataset Card for LIBERO-PRO Perturbation Dataset
Project Page | Paper | Code
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 framework to evaluate Vision-Language-Action (VLA) models beyond rote memorization.
Dataset Details
This dataset extends the original LIBERO benchmark by introducing systematic… See the full description on the dataset page: https://huggingface.co/datasets/zhouxueyang/LIBERO-Pro.DILLO-LIBERO-dataset
DILLO LIBERO Distillation Dataset
Paper: Describe-Then-Act: Proactive Agent Steering via Distilled Language-Action World ModelsCode: github.com/MaxPappa/DILLO
This dataset contains LIBERO policy rollouts labeled for DILLO (DIstiLLed Language-ActiOn World Model). Each example stores a chunked ACT policy rollout, boundary-frame images, robot state traces, action chunks, and VLM-generated descriptions/reasoning for distillation.
Dataset Summary
Total episodes: 1700… See the full description on the dataset page: https://huggingface.co/datasets/Sapienza/DILLO-LIBERO-dataset.libero-rlds
Dataset Structure
These datasets are used for MemoryVLA training.
This is the standard LIBERO setting and can be directly used for other models as well.All data follow the RLDS format from the LIBERO benchmark, where each task initially contains 50 trajectories and failed rollouts are filtered out.NOTE: LIBERO-90 is also included.
libero_spatial_no_noops — 10 tasks
libero_object_no_noops — 10 tasks
libero_goal_no_noops — 10 tasks
libero_10_no_noops — 10 tasks… See the full description on the dataset page: https://huggingface.co/datasets/shihao1895/libero-rlds.libero_90_no_noops_lerobotThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 3921,
"total_frames": 569249,
"total_tasks": 73,
"total_videos": 7842,
"total_chunks": 3,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:3921"
},
"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/IPEC-COMMUNITY/libero_90_no_noops_lerobot.modified_libero_rlds
Modified LIBERO RLDS Datasets
This repository contains the four modified LIBERO datasets
used in the OpenVLA fine-tuning experiments, stored in RLDS data format. See Appendix E in the
OpenVLA paper for details about the fine-tuning experiments and
specific dataset modifications, and see the OpenVLA GitHub README
for instructions on how to run OpenVLA in LIBERO environments.
Citation
BibTeX:
@article{kim24openvla,
title={OpenVLA: An Open-Source… See the full description on the dataset page: https://huggingface.co/datasets/dachengzisks/modified_libero_rlds.