| { |
| "setting": "OpenVLA / LIBERO-10 offline action calibration", |
| "num_records": 400, |
| "split_counts": { |
| "train": 240, |
| "val": 80, |
| "test": 80 |
| }, |
| "source_dataset": "https://huggingface.co/datasets/yifengzhu-hf/LIBERO-datasets", |
| "source_code": "https://github.com/Lifelong-Robot-Learning/LIBERO", |
| "records_file": "triplets.json", |
| "observation_file": "observations.npz", |
| "observation_array": "agentview_rgb", |
| "observation_shape": [ |
| 400, |
| 128, |
| 128, |
| 3 |
| ], |
| "observation_dtype": "uint8", |
| "observation_alignment": "triplets.json observation_index is the first-axis index of agentview_rgb; original HDF5 images with no flip, crop or resizing", |
| "paired_inputs": "All three instruction/action pairs in a record share this same source observation and simulator state.", |
| "source_states": { |
| "break_target_object": { |
| "sampled_states_shape": [ |
| 200, |
| 123 |
| ], |
| "demo_initial_states_shape": [ |
| 50, |
| 123 |
| ], |
| "sampled_states_dtype": "float64" |
| }, |
| "break_executability_condition": { |
| "sampled_states_shape": [ |
| 200, |
| 47 |
| ], |
| "demo_initial_states_shape": [ |
| 50, |
| 47 |
| ], |
| "sampled_states_dtype": "float64" |
| } |
| }, |
| "state_alignment": "Per-case NPZ record_indices indexes triplets.json. demo_numbers indexes demo_initial_states. States are source LIBERO simulator snapshots; scene models and simulator conventions come from LIBERO.", |
| "split_policy": { |
| "demo_order": "integer suffix in demo_N", |
| "train_demos_per_case": [ |
| 0, |
| 1, |
| 2, |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8, |
| 9, |
| 10, |
| 11, |
| 12, |
| 13, |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22, |
| 23, |
| 24, |
| 25, |
| 26, |
| 27, |
| 28, |
| 29 |
| ], |
| "val_demos_per_case": [ |
| 30, |
| 31, |
| 32, |
| 33, |
| 34, |
| 35, |
| 36, |
| 37, |
| 38, |
| 39 |
| ], |
| "test_demos_per_case": [ |
| 40, |
| 41, |
| 42, |
| 43, |
| 44, |
| 45, |
| 46, |
| 47, |
| 48, |
| 49 |
| ], |
| "frames_per_demo": 4, |
| "frame_rule": "round(linspace(0, number_of_frames - 1, 4))" |
| }, |
| "carrier_input_preprocessing": { |
| "source_view": "agentview_rgb", |
| "center_crop_area_fraction": 0.9, |
| "resize": 224, |
| "resample": "PIL LANCZOS", |
| "prompt": "In: What action should the robot take to {instruction.lower()}?\nOut:", |
| "sampling": "do_sample=False", |
| "provenance": "Source generator implementation and model registry; resize=224 is the parser default, and the source results do not store preprocessing CLI overrides." |
| }, |
| "expert_reference": "clean LIBERO demonstration action at the same source demo/frame", |
| "license_file": "../licenses/LIBERO-MIT.txt" |
| } |
|
|
