hello3x3/libero_10_no_noops_1.0.0_lerobot_v3.0

libero_10_no_noops_1.0.0_lerobot

Dataset Description

This dataset is the LIBERO-Long subset of the LIBERO benchmark, converted to LeRobot v3.0 format.

10 long-horizon multi-step manipulation tasks. Each task requires executing a sequence of subtasks in order, testing the agent's ability to plan and compose multiple skills.

Note: This dataset has been filtered to remove no-op frames (idle frames where the robot does not execute meaningful actions). This results in more efficient training data.

Source

• Original benchmark: LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning (Liu et al., 2023)
• Source dataset: IPEC-COMMUNITY/libero_10_no_noops_1.0.0_lerobot by IPEC-COMMUNITY
• Conversion: v2.1 -> v3.0 using lerobot/datasets/v30/convert_dataset_v21_to_v30.py

Dataset Statistics

Property	Value
Robot	Franka Panda
Total episodes	379
Total frames	101,469
Total tasks	10
FPS	20
Total size	~300 MB
Codebase version	v3.0

Features

Feature	Dtype	Shape
observation.images.wrist_image	video	[256, 256, 3]
observation.images.image	video	[256, 256, 3]
observation.state	float32	[8]
action	float32	[7]
timestamp	float32	[1]
frame_index	int64	[1]
episode_index	int64	[1]
index	int64	[1]
task_index	int64	[1]

Tasks

task_index	Description
0	put the white mug on the left plate and put the yellow and white mug on the right plate
1	put the white mug on the plate and put the chocolate pudding to the right of the plate
2	put the yellow and white mug in the microwave and close it
3	turn on the stove and put the moka pot on it
4	put both the alphabet soup and the cream cheese box in the basket
5	put both the alphabet soup and the tomato sauce in the basket
6	put both moka pots on the stove
7	put both the cream cheese box and the butter in the basket
8	put the black bowl in the bottom drawer of the cabinet and close it
9	pick up the book and place it in the back compartment of the caddy

Usage

from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset(
    "libero_10_no_noops_1.0.0_lerobot",
    root="/path/to/datasets/libero_10_no_noops_1.0.0_lerobot",
)

# Access a sample
sample = ds[0]
print(sample["observation.images.image"])  # [3, 256, 256]
print(sample["action"])                     # [7]
print(sample["task"])                       # natural language task description