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LIBERO-Plus Twin Intervention Experiments
Complete: all 119 archive parts and source archive checksums verified.
This dataset preserves same-state clean/perturbed twin intervention experiments on the 10,030 LIBERO-Plus task variants. Four policy models (RIFT, Joint, IDM, Cosmos) were evaluated under five interventions: twin_both, twin_agent, twin_wrist, twin_anticip, twin_present. Each model/intervention group contains 10,030 unique recorded trajectories: 200,600 formal twin trajectories in total. The family archive also contains 10,030 Cosmos baseline trajectories. Pilot, retry, quarantine and execution records are retained in their original separate paths.
Contents
rift/: 30 parts of the original RIFT experiment ZIP (249,440,189,361 bytes).joint-idm-cosmos/: 89 parts of the original Joint/IDM/Cosmos experiment ZIP (759,559,741,710 bytes).manifests/: archive member inventories, experimental group counts and validation/provenance records.archive-parts.json,SHA256SUMS.parts,SHA256SUMS.archives,verification.json: published after the upload completes.
The two ZIPs cover complementary model experiments and contain actual files, with no symbolic links in either archive. Older analysis inputs reused 81 mask-evaluation recordings via symbolic links; that separate analysis subset is documented in the provenance inventory.
Recorded arrays
Formal twin NPZ files contain metadata, rgb, rgb_clean, raw_state, proprio, raw_normalized, env_action, and twin_image_diff. The paired RGB arrays hold perturbed and clean views of the same simulator state at replanning times. Sampled RGB arrays are uint8 [replans, 224, 448, 3]. Action chunk lengths, dtypes and state layouts vary by model; use each recording's metadata and the archived source/configuration when interpreting them.
Download and restore
After the upload status is complete:
hf download research-vla/LIBERO-Plus-Twin --repo-type dataset --local-dir libero-plus-twin
cd libero-plus-twin
sha256sum -c SHA256SUMS.parts
cat rift/*.zip.part-* > deft-libero-plus-twins-full-20261011.zip
cat joint-idm-cosmos/*.zip.part-* > deft-family-twins-full-20261011.zip
sha256sum -c SHA256SUMS.archives
mkdir restored
unzip deft-libero-plus-twins-full-20261011.zip -d restored
unzip deft-family-twins-full-20261011.zip -d restored
Preserved absolute runtime paths refer to the original research environment and may need adjustment when reproducing the experiments. The original files, source attribution and applicable upstream terms are retained; this archive does not assign a new blanket license to all included material.
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