{
  "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"
}