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--- |
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license: cc-by-4.0 |
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task_categories: |
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- robotics |
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tags: |
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- LeRobot |
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- libero |
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- panda |
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- rlds |
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configs: |
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- config_name: default |
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data_files: data/*/*.parquet |
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--- |
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
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## Dataset Description |
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This dataset combines four individual Libero datasets: Libero-Spatial, Libero-Object, Libero-Goal and Libero-10. |
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All datasets were taken from [here](https://huggingface.co/datasets/openvla/modified_libero_rlds) and converted into LeRobot format. |
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- **Homepage:** https://libero-project.github.io |
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- **Paper:** https://arxiv.org/abs/2306.03310 |
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- **License:** CC-BY 4.0 |
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## Dataset Structure |
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[meta/info.json](meta/info.json): |
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```json |
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{ |
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"codebase_version": "v2.0", |
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"robot_type": "panda", |
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"total_episodes": 1693, |
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"total_frames": 273465, |
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"total_tasks": 40, |
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"total_videos": 0, |
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"total_chunks": 2, |
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"chunks_size": 1000, |
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"fps": 10, |
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"splits": { |
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"train": "0:1693" |
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}, |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
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"features": { |
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"image": { |
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"dtype": "image", |
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"shape": [ |
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256, |
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256, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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] |
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}, |
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"wrist_image": { |
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"dtype": "image", |
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"shape": [ |
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256, |
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256, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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] |
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}, |
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"state": { |
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"dtype": "float32", |
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"shape": [ |
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8 |
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], |
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"names": [ |
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"state" |
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] |
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}, |
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"actions": { |
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"dtype": "float32", |
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"shape": [ |
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7 |
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], |
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"names": [ |
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"actions" |
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] |
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}, |
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"timestamp": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"frame_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"episode_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"task_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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} |
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} |
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} |
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``` |
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## Citation |
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**BibTeX:** |
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```bibtex |
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@article{liu2023libero, |
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title={LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning}, |
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author={Liu, Bo and Zhu, Yifeng and Gao, Chongkai and Feng, Yihao and Liu, Qiang and Zhu, Yuke and Stone, Peter}, |
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journal={arXiv preprint arXiv:2306.03310}, |
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year={2023} |
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} |
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``` |
