Search is not available for this dataset
image
imagewidth (px) 256
256
| wrist_image
imagewidth (px) 256
256
| state
sequence | actions
sequence | timestamp
float32 0
45.4
| frame_index
int64 0
454
| episode_index
int64 0
146
| index
int64 0
40.1k
| task_index
int64 0
9
|
|---|---|---|---|---|---|---|---|---|
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End of preview. Expand
in Dataset Viewer.
This 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
{
"codebase_version": "v2.0",
"robot_type": "panda",
"total_episodes": 1693,
"total_frames": 273465,
"total_tasks": 40,
"total_videos": 0,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:1693"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"wrist_image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"state"
]
},
"actions": {
"dtype": "float32",
"shape": [
7
],
"names": [
"actions"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
@article{liu2023libero,
title={LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning},
author={Liu, Bo and Zhu, Yifeng and Gao, Chongkai and Feng, Yihao and Liu, Qiang and Zhu, Yuke and Stone, Peter},
journal={arXiv preprint arXiv:2306.03310},
year={2023}
}
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