openvla/modified_libero_rlds

Modified LIBERO RLDS Datasets

This repository contains the four modified LIBERO datasets used in the OpenVLA fine-tuning experiments, stored in RLDS data format. See Appendix E in the OpenVLA paper for details about the fine-tuning experiments and specific dataset modifications, and see the OpenVLA GitHub README for instructions on how to run OpenVLA in LIBERO environments.

Citation

BibTeX:

@article{kim24openvla,
    title={OpenVLA: An Open-Source Vision-Language-Action Model},
    author={{Moo Jin} Kim and Karl Pertsch and Siddharth Karamcheti and Ted Xiao and Ashwin Balakrishna and Suraj Nair and Rafael Rafailov and Ethan Foster and Grace Lam and Pannag Sanketi and Quan Vuong and Thomas Kollar and Benjamin Burchfiel and Russ Tedrake and Dorsa Sadigh and Sergey Levine and Percy Liang and Chelsea Finn},
    journal = {arXiv preprint arXiv:2406.09246},
    year={2024}
} 

Please also refer to the LIBERO project repo for the LIBERO citation.