Add files using upload-large-folder tool

README.md

@@ -0,0 +1,148 @@
+---
+license: cc-by-4.0
+task_categories:
+- robotics
+tags:
+- robotics
+- manipulation
+- libero
+- vision-language-action
+- multi-task
+- converted
+- lerobot
+pretty_name: LIBERO Converted
+size_categories:
+- 100K<n<1M
+---
+
+# LIBERO Dataset for LeRobot
+
+This is the [LIBERO dataset](https://huggingface.co/datasets/physical-intelligence/libero), **preprocessed by the HuggingFace VLA team to fit the LeRobot framework**.  
+
+The dataset is structured for easy use in VLA (Vision-Language-Action) LeRobot training pipelines, so you can easily train and evaluate models without extra preprocessing.
+
+## Dataset Description
+
+LIBERO (Language-Integrated Benchmark for Evaluating Robot Manipulation) is a comprehensive benchmark for robot manipulation tasks with natural language instructions. This dataset combines four individual Libero datasets: **Libero-Spatial**, **Libero-Object**, **Libero-Goal** and **Libero-10**. All datasets were taken from the original sources and converted into LeRobot format.
+
+- **Homepage**: https://libero-project.github.io
+- **Paper**: https://arxiv.org/abs/2306.03310
+- **License**: CC-BY 4.0
+
+This converted version maintains all original functionality while providing standardized feature naming conventions.
+
+### Details
+
+- **Episodes**: 1,693 manipulation episodes
+- **Tasks**: 40 unique manipulation tasks
+- **Robot**: Franka Panda 7-DOF arm
+- **Cameras**: Dual camera setup (main view + wrist camera)
+- **Resolution**: 256×256 RGB images
+- **Action Space**: 7-dimensional (6 joint velocities + gripper)
+- **FPS**: 10 Hz
+
+## Dataset Structure
+
+### Features
+
+| Feature | Type | Shape | Description |
+|---------|------|-------|-------------|
+| `observation.images.image` | Image | (256, 256, 3) | Main camera RGB view |
+| `observation.images.image2` | Image | (256, 256, 3) | Wrist camera RGB view |
+| `observation.state` | Tensor | (8,) | Joint positions + gripper state |
+| `action` | Tensor | (7,) | Target joint velocities + gripper action |
+| `timestamp` | Float | () | Episode timestamp |
+| `frame_index` | Int | () | Frame index within episode |
+| `episode_index` | Int | () | Episode identifier |
+| `index` | Int | () | Global frame index |
+| `task_index` | Int | () | Task identifier (0-39) |
+
+### Task Categories
+
+The dataset includes 40 diverse manipulation tasks across multiple categories:
+- **Pick and Place**: Object manipulation and placement
+- **Drawer Operations**: Opening and closing drawers
+- **Door Operations**: Handle manipulation and door opening/closing
+- **Assembly Tasks**: Multi-object coordination and assembly
+- **Tool Use**: Utilizing tools for manipulation tasks
+
+## Usage
+
+### Loading the Dataset
+
+```python
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+# Load the converted dataset
+dataset = LeRobotDataset("HuggingFaceVLA/libero")
+
+# Access a sample
+sample = dataset[0]
+main_image = sample["observation.images.image"]
+wrist_image = sample["observation.images.image2"] 
+robot_state = sample["observation.state"]
+action = sample["action"]
+```
+
+## Conversion Details
+
+This dataset was converted from the original LIBERO v2.0 format to LeRobot v2.1 format with the following improvements:
+
+1. **Standardized Feature Names**: Renamed keys to follow LeRobot conventions
+2. **Added Episode Statistics**: Generated `episodes_stats.jsonl` for efficient loading
+3. **Updated Metadata**: Compatible with latest LeRobot framework
+4. **Structured Image Keys**: Organized image features under `observation.images.*`
+5. **Preserved All Data**: No data loss during conversion
+
+### Original to Converted Key Mapping
+
+| Original Key | Converted Key |
+|--------------|---------------|
+| `image` | `observation.images.image` |
+| `wrist_image` | `observation.images.image2` |
+| `state` | `observation.state` |
+| `actions` | `action` |
+
+## Dataset Statistics
+
+- **Total Episodes**: 1,693
+- **Total Frames**: 273,465
+- **Average Episode Length**: 161.6 frames
+- **Dataset Size**: ~35GB
+- **Format**: LeRobot v2.1
+
+## Citation
+
+If you use this dataset, please cite the original LIBERO paper:
+
+```bibtex
+@article{liu2023libero,
+  title={LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning},
+  author={Liu, Bo and Zeng, Yifeng and Patil, Arjun and Mu, Xingyu and Xu, Qingqing and Liu, Ying and Wu, Stone and Liu, Yurong and Tenenbaum, Joshua B and others},
+  journal={arXiv preprint arXiv:2306.03310},
+  year={2023}
+}
+```
+
+## License
+
+This dataset is released under the CC-BY 4.0 License, following the original LIBERO dataset licensing.
+
+## Original Dataset
+
+- **Original Source**: [physical-intelligence/libero](https://huggingface.co/datasets/physical-intelligence/libero)
+- **Paper**: [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://arxiv.org/abs/2306.03310)
+- **Homepage**: [https://libero-project.github.io](https://libero-project.github.io)
+
+## Conversion Process
+
+This dataset was converted using the LeRobot conversion pipeline:
+
+1. Downloaded original dataset from HuggingFace Hub
+2. Applied LeRobot v2.0 to v2.1 conversion
+3. Renamed features to standard conventions
+4. Generated episode statistics
+5. Validated data integrity
+6. Uploaded with proper metadata
+
+For questions about the conversion or issues with the dataset, please open an issue on the [LeRobot repository](https://github.com/huggingface/lerobot).

data/chunk-001/episode_001000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:987a44576f01471e82b04199cb6bad1947f3407f4d7a5936fa1ff2b7b58309dc
+size 18543283

data/chunk-001/episode_001045.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39a2c90b56473fb90f00de140c82eebf7d87594b5f8bcc9c7f86df7059f5dd53
+size 19814591

data/chunk-001/episode_001050.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b72886e0c184c5b79d5104b91908f8cf859ef4d7018d5659befd9b679ae485f5
+size 16877782

data/chunk-001/episode_001082.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dee681a96127c51fe883de6be8634661a5e50f03ef57238bf66930023a1bee5a
+size 20774227

data/chunk-001/episode_001111.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:181a8889b80c60fcff625d7a6d69a27e8984aa6c99dcf34aa8bd70dbcb0c2106
+size 21503549

data/chunk-001/episode_001118.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aa1a4714d0efdf4a4d00d4747f559ecec24398e9ca348c86a62ebb85fb7cd90
+size 20172551

data/chunk-001/episode_001144.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83a5d7ef4f5060cac4c5a1b7ddb816581576e508a891cbc30db872c849d8b3af
+size 18144246

data/chunk-001/episode_001173.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:304cd2fc2254e7a2da66c6ee41b6d2c2b06be51b7d3a0ca0351f0d1cff357931
+size 19470286

data/chunk-001/episode_001175.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8dfd97513a10798af416be9316b8607206b96b46dc91beb3abd00f76e179094
+size 18771328

data/chunk-001/episode_001186.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b57691365ecda94aec92c6d1e4d97a8cea45d13d92e9ea4d052328e1d41aec47
+size 23892619

data/chunk-001/episode_001221.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:581947a34a798a6700c903747c6ba01d1f030d0782fbe1cc99046bee78eab49e
+size 19289966

data/chunk-001/episode_001229.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a4f0173777de166bd16b16494a2b6d804cc9f4a2e098da71da60d44a48efa81
+size 19394986

data/chunk-001/episode_001235.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bd3796e67192a98d195cf00e72cf32dd38d2aeda00e06c9355f97e5c7445500
+size 23335576

data/chunk-001/episode_001247.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4146f6b3fa65ed3b60e7691932487d0e47590ac32ade25fd85cd00dc1791fc87
+size 16470096

data/chunk-001/episode_001257.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7e5fa9d4def9072ac83c9fb2e002a5501a7196aaaa7217b8f6cb2955f291029
+size 18878649

data/chunk-001/episode_001264.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83f90b7b069a818c7ff2acf1daa1023b00e50e48734e2a2a2e7472a8f21cb739
+size 12447787

data/chunk-001/episode_001274.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4863c46dbcb57aa1745262bcb12d180343ce914fa4cdb779a3f7e75a8f8343cc
+size 13260894

data/chunk-001/episode_001317.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07fc6631467369ec5ababa798e1ef51c9d8d58655c9ac1ddc990c70cc9e91849
+size 14549118

data/chunk-001/episode_001319.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e812ee1c6b66d9ed959bc077cff214b9365aaf71854a40f8f11895bdeab4768
+size 11993609

data/chunk-001/episode_001338.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d34b656b39f3f401c09728647671464b23ab29a25d0ada3073bfee2e4c38ed5
+size 14747058

data/chunk-001/episode_001341.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c327b2aa7101bd2d56ee806932303a612911c7b28fa0a5712efd08f3a5200ce6
+size 18991597

data/chunk-001/episode_001342.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61aee434ef48f11aaf82cb14307ae3ea793c99ee93b0e69f6203ce9f4c9752a1
+size 15742524

data/chunk-001/episode_001356.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8326d045c93d2e2b1016b4027fda9a456d17102ea953e4d6a0df6efddd5e05c
+size 16944220

data/chunk-001/episode_001365.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ff0c4954c0f4179d56c744648cb6480af60225c265178cec863dd112d5a1c23
+size 18861365

data/chunk-001/episode_001370.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6917631ae7a862cc74b582fd7f6b47a27449bed67ad457498482a89a58210aad
+size 18875518

data/chunk-001/episode_001373.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c379ce0f5bf4ce59107a22a2856273b5ebb61381047b6f42ecf7508241b4adce
+size 19960878

data/chunk-001/episode_001374.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72c2ee52f098b69375cdde40585ba2728748e9c6905c611270b3bff80efedeab
+size 15460210

data/chunk-001/episode_001400.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cb6fca5da62b28f21a2fe336eb723cab11cd14fecc44de661ceb9dcec3f2de2
+size 16957050

data/chunk-001/episode_001409.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eac944cf5a449ccb123c051bcfc130f2ed857fd86960166bc926260ea87f65e
+size 13176557

data/chunk-001/episode_001436.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bddcb2a59b617a8ff90d8510948a663b08738e29af64a700df869fb48445fad6
+size 13229782

data/chunk-001/episode_001447.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab43c731bd5981a735b88dcb384e35e5686583293bc5497c928d6d8e587de7bd
+size 15875705

data/chunk-001/episode_001460.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08a85d03b52a2573b649f350a7b9de4f371b7c5211c35963f2282beb1fb44523
+size 14043377

data/chunk-001/episode_001464.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c70f4040bad70360d7888e5e5b9c6bf2a73973ba1d8d4eebd1ba8e9dc1fc289c
+size 14251189

data/chunk-001/episode_001499.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6c4ee41d22a4b098938b32f310a4ffc0f4b145b4eb07751abacfd583c0b4acb
+size 14718347

data/chunk-001/episode_001536.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:597b2543fe4eb90caab5f759ab6c292ec5a2be388ebc0ed5fcf55dd1c451a31d
+size 15282597

data/chunk-001/episode_001541.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:220b5e6a04b9cc25724ec138b3ddc007f3aea4347da31e8b675b994a39357719
+size 18005168

data/chunk-001/episode_001545.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b31a26e4b8057f8c66deedd3caf9d243a4a4c7ce2a16f98a65b5207441c422a4
+size 13527283

data/chunk-001/episode_001556.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:497e4a42e58140a4205c6a7716f3985c173f18502e59f26bbfdf16e113a5d214
+size 13978501

data/chunk-001/episode_001594.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7305965b55bb5f53b76f4dc94f67d4d4ae8211c121cc07c1a94197e43bfa5c50
+size 13747320

data/chunk-001/episode_001599.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3703b5aa32df6de8767a6e2b188de864e20293748ccdacc7ac517f539f975624
+size 14796917

data/chunk-001/episode_001600.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5e868156c4576d6f698ea2f82e543dec5c756090be142e36f1e9409f90c1b91
+size 11403395

data/chunk-001/episode_001607.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37b55bfaa75d92c3420036d537f53ce3961ddd457df4a177582fc2b7817b5564
+size 16287235

data/chunk-001/episode_001644.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9a8e188dd3e1f4c9349e80779d81ef27f10411bfa89b3623d8c556a7b772efa
+size 16341052

data/chunk-001/episode_001682.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:129995d64af6cf6300c993d15fbfbe93efedcc89a89a0ca56258e68f786a09ef
+size 14122390

meta/info.json

@@ -0,0 +1,97 @@
+{
+  "codebase_version": "v2.1",
+  "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": {
+    "observation.images.image": {
+      "dtype": "image",
+      "shape": [
+        256,
+        256,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ]
+    },
+    "observation.images.image2": {
+      "dtype": "image",
+      "shape": [
+        256,
+        256,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        8
+      ],
+      "names": [
+        "state"
+      ]
+    },
+    "action": {
+      "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
+    }
+  }
+}

meta/tasks.jsonl

@@ -0,0 +1,40 @@
+{"task_index": 0, "task": "put the white mug on the left plate and put the yellow and white mug on the right plate"}
+{"task_index": 1, "task": "put the white mug on the plate and put the chocolate pudding to the right of the plate"}
+{"task_index": 2, "task": "put the yellow and white mug in the microwave and close it"}
+{"task_index": 3, "task": "turn on the stove and put the moka pot on it"}
+{"task_index": 4, "task": "put both the alphabet soup and the cream cheese box in the basket"}
+{"task_index": 5, "task": "put both the alphabet soup and the tomato sauce in the basket"}
+{"task_index": 6, "task": "put both moka pots on the stove"}
+{"task_index": 7, "task": "put both the cream cheese box and the butter in the basket"}
+{"task_index": 8, "task": "put the black bowl in the bottom drawer of the cabinet and close it"}
+{"task_index": 9, "task": "pick up the book and place it in the back compartment of the caddy"}
+{"task_index": 10, "task": "put the bowl on the plate"}
+{"task_index": 11, "task": "put the wine bottle on the rack"}
+{"task_index": 12, "task": "open the top drawer and put the bowl inside"}
+{"task_index": 13, "task": "put the cream cheese in the bowl"}
+{"task_index": 14, "task": "put the wine bottle on top of the cabinet"}
+{"task_index": 15, "task": "push the plate to the front of the stove"}
+{"task_index": 16, "task": "turn on the stove"}
+{"task_index": 17, "task": "put the bowl on the stove"}
+{"task_index": 18, "task": "put the bowl on top of the cabinet"}
+{"task_index": 19, "task": "open the middle drawer of the cabinet"}
+{"task_index": 20, "task": "pick up the orange juice and place it in the basket"}
+{"task_index": 21, "task": "pick up the ketchup and place it in the basket"}
+{"task_index": 22, "task": "pick up the cream cheese and place it in the basket"}
+{"task_index": 23, "task": "pick up the bbq sauce and place it in the basket"}
+{"task_index": 24, "task": "pick up the alphabet soup and place it in the basket"}
+{"task_index": 25, "task": "pick up the milk and place it in the basket"}
+{"task_index": 26, "task": "pick up the salad dressing and place it in the basket"}
+{"task_index": 27, "task": "pick up the butter and place it in the basket"}
+{"task_index": 28, "task": "pick up the tomato sauce and place it in the basket"}
+{"task_index": 29, "task": "pick up the chocolate pudding and place it in the basket"}
+{"task_index": 30, "task": "pick up the black bowl next to the cookie box and place it on the plate"}
+{"task_index": 31, "task": "pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate"}
+{"task_index": 32, "task": "pick up the black bowl on the ramekin and place it on the plate"}
+{"task_index": 33, "task": "pick up the black bowl on the stove and place it on the plate"}
+{"task_index": 34, "task": "pick up the black bowl between the plate and the ramekin and place it on the plate"}
+{"task_index": 35, "task": "pick up the black bowl on the cookie box and place it on the plate"}
+{"task_index": 36, "task": "pick up the black bowl next to the plate and place it on the plate"}
+{"task_index": 37, "task": "pick up the black bowl next to the ramekin and place it on the plate"}
+{"task_index": 38, "task": "pick up the black bowl from table center and place it on the plate"}
+{"task_index": 39, "task": "pick up the black bowl on the wooden cabinet and place it on the plate"}