LIBERO
Datasets
All datasets matching “LIBERO”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_lerobot