hello3x3/libero_90_no_noops_lerobot_v3.0

libero_90_no_noops_lerobot

Dataset Description

This dataset is the LIBERO-90 subset of the LIBERO benchmark, converted to LeRobot v3.0 format.

A large-scale set of 73 diverse manipulation tasks intended for pre-training. Covers a broad range of manipulation skills including pick-and-place, drawer/cabinet interaction, stacking, and tool use.

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_90_no_noops_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	3,921
Total frames	569,249
Total tasks	73
FPS	20
Total size	~300 MB
Codebase version	v3.0

Features

Feature	Dtype	Shape
observation.images.image	video	[256, 256, 3]
observation.images.wrist_image	video	[256, 256, 3]
observation.state	float32	[8]
observation.states.ee_state	float32	[6]
observation.states.joint_state	float32	[7]
observation.states.gripper_state	float32	[2]
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	pick up the book and place it in the right compartment of the caddy
1	pick up the alphabet soup and put it in the basket
2	pick up the cream cheese and put it in the tray
3	pick up the tomato sauce and put it in the basket
4	put the black bowl on top of the cabinet
5	put the middle black bowl on the plate
6	put the white bowl on top of the cabinet
7	put the wine bottle on the wine rack
8	put the black bowl in the top drawer of the cabinet
9	put the yellow and white mug on the right plate
10	put the white bowl on the plate
11	turn on the stove and put the frying pan on it
12	pick up the book and place it in the front compartment of the caddy
13	put the right moka pot on the stove
14	put the middle black bowl on top of the cabinet
15	put the red mug on the plate
16	put the frying pan under the cabinet shelf
17	close the microwave
18	put the butter at the back in the top drawer of the cabinet and close it
19	put the red mug on the left plate
20	open the microwave
21	pick up the yellow and white mug and place it to the right of the caddy
22	pick up the book in the middle and place it on the cabinet shelf
23	put the chocolate pudding in the top drawer of the cabinet and close it
24	put the chocolate pudding to the right of the plate
25	put the chocolate pudding to the left of the plate
26	close the top drawer of the cabinet and put the black bowl on top of it
27	pick up the orange juice and put it in the basket
28	put the wine bottle in the bottom drawer of the cabinet
29	close the bottom drawer of the cabinet and open the top drawer
30	put the frying pan on the cabinet shelf
31	put the ketchup in the top drawer of the cabinet
32	put the butter at the front in the top drawer of the cabinet and close it
33	pick up the chocolate pudding and put it in the tray
34	put the black bowl at the front on the plate
35	pick up the book and place it in the left compartment of the caddy
36	stack the right bowl on the left bowl and place them in the tray
37	pick up the book and place it in the back compartment of the caddy
38	stack the middle black bowl on the back black bowl
39	close the bottom drawer of the cabinet
40	pick up the book on the right and place it under the cabinet shelf
41	put the yellow and white mug to the front of the white mug
42	put the white mug on the plate
43	turn on the stove
44	put the black bowl in the bottom drawer of the cabinet
45	pick up the cream cheese box and put it in the basket
46	pick up the tomato sauce and put it in the tray
47	pick up the white mug and place it to the right of the caddy
48	pick up the alphabet soup and put it in the tray
49	pick up the milk and put it in the basket
50	stack the left bowl on the right bowl and place them in the tray
51	pick up the red mug and place it to the right of the caddy
52	put the white mug on the left plate
53	pick up the ketchup and put it in the tray
54	pick up the book on the left and place it on top of the shelf
55	put the black bowl at the back on the plate
56	put the frying pan on top of the cabinet
57	pick up the salad dressing and put it in the tray
58	put the red mug on the right plate
59	pick up the butter and put it in the tray
60	pick up the ketchup and put it in the basket
61	open the top drawer of the cabinet
62	open the top drawer of the cabinet and put the bowl in it
63	put the white bowl to the right of the plate
64	put the frying pan on the stove
65	pick up the black bowl on the left and put it in the tray
66	put the black bowl on the plate
67	stack the black bowl at the front on the black bowl in the middle
68	pick up the book on the right and place it on the cabinet shelf
69	put the moka pot on the stove
70	close the top drawer of the cabinet
71	turn off the stove
72	open the bottom drawer of the cabinet

Usage

from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset(
    "libero_90_no_noops_lerobot",
    root="/path/to/datasets/libero_90_no_noops_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