| # LIBERO — Rerun RRD conversion | |
| [Rerun](https://rerun.io) recordings of the [LIBERO](https://libero-project.github.io/) benchmark demos: 130 simulated tabletop manipulation tasks across five suites, 6,500 teleoperated demos in all. | |
| Converted from the full [yifengzhu-hf/LIBERO-datasets](https://huggingface.co/datasets/yifengzhu-hf/LIBERO-datasets) release. | |
| Each demo becomes several `.rrd` files, one per _layer_, sharing a single `recording_id`. | |
| Open them in the Rerun Viewer, or register them as a catalog dataset. | |
| Layers live in their own directories, so one demo is spread across the bucket like this: | |
| ``` | |
| base/<suite>/<task>__demo_<N>.rrd # the demo as recorded ('base' layer) | |
| properties/… # per-demo catalog columns: suite, task, scene, language, … | |
| urdf/… # the posed Franka arm: mounting pose + forward kinematics | |
| cameras/… # the two cameras placed in the scene | |
| assets/urdf-model.rrd # the arm meshes, once for the whole dataset | |
| blueprints/default.rbl # default viewer layout | |
| ``` | |
| `<suite>` is one of `libero_10`, `libero_90`, `libero_goal`, `libero_object`, `libero_spatial`. | |
| `<task>` is the source file name without its `_demo.hdf5` suffix, and `<N>` runs 0…49. | |
| ## Provenance and attribution | |
| This dataset is a converted derivative of [yifengzhu-hf/LIBERO-datasets](https://huggingface.co/datasets/yifengzhu-hf/LIBERO-datasets), the demonstration data of the [LIBERO](https://libero-project.github.io/) benchmark. | |
| The original authors released it under the Apache License 2.0, at source revision [`f13aa24a`](https://huggingface.co/datasets/yifengzhu-hf/LIBERO-datasets/tree/f13aa24a3da8c43c7225569f28c562979fa0e35a), dated 2025-05-18. | |
| All credit for the underlying data collection belongs to the original authors. | |
| The original authors do not endorse this conversion. | |
| ## Changes from the source | |
| - Each task file (`<suite>/<task>_demo.hdf5`) holds 50 demos, and every demo becomes its own Rerun recording. | |
| The task file's own attributes are copied into each demo's base layer. | |
| - The base layer keeps every HDF5 dataset and attribute of the demo group under its source name, dtype and array width, so a demo can be written back to HDF5 value for value. | |
| - Camera frames are flipped upright. The source stores them bottom-up, in the OpenGL convention. | |
| - Three layers are added beyond the base: `urdf` poses the arm, `cameras` places the two scene cameras, and `properties` carries the per-demo catalog columns. | |
| ## Size and scale | |
| The full dataset is 6,500 demos: about 45 GB of `.rrd` files converted from 100 GB of source. | |
| A single demo's base layer is 3–11 MB. | |
| The shared arm model is 3.8 MB, once for the whole dataset. | |
| Source HDF5 files are uncompressed and `.rrd` files are compressed, so the base layer lands at 40–56% of the source size. | |
| The other three layers add about 1% on top. | |
| One task file per suite, all 50 demos of each: | |
| | Suite | HDF5 source | base | urdf | cameras | properties | All rrds total | | |
| | -------------- | ----------: | ----: | ---: | ------: | ---------: | -------------: | | |
| | libero_10 | 1319.6 | 523.6 | 4.9 | 1.0 | 0.3 | 529.8 | | |
| | libero_90 | 463.1 | 192.2 | 2.0 | 1.0 | 0.3 | 195.4 | | |
| | libero_goal | 447.5 | 186.6 | 1.9 | 0.9 | 0.3 | 189.7 | | |
| | libero_object | 664.2 | 366.1 | 2.6 | 1.0 | 0.3 | 370.0 | | |
| | libero_spatial | 508.8 | 254.6 | 2.1 | 1.0 | 0.3 | 258.0 | | |
| Sizes are in MB (10⁶ bytes), measured on these source files: | |
| ``` | |
| libero_10 : libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it_demo.hdf5 | |
| libero_90 : libero_90/KITCHEN_SCENE3_turn_on_the_stove_demo.hdf5 | |
| libero_goal : libero_goal/turn_on_the_stove_demo.hdf5 | |
| libero_object : libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket_demo.hdf5 | |
| libero_spatial : libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate_demo.hdf5 | |
| ``` | |
| ## How to use | |
| ### View one demo | |
| ```bash | |
| pip install "huggingface_hub[cli]" rerun-sdk | |
| # Every layer of one demo, plus the default blueprint and the shared arm model | |
| hf buckets sync hf://buckets/rerun/libero . \ | |
| --include "*/<suite>/<task>__demo_<N>.rrd" \ | |
| --include "assets/urdf-model.rrd" \ | |
| --include "blueprints/default.rbl" | |
| rerun */<suite>/<task>__demo_<N>.rrd blueprints/default.rbl | |
| ``` | |
| Keep the leading `*` so every layer loads. | |
| These recordings were written with Rerun 0.37.0. | |
| A newer viewer reads them as they are in most cases; [`rerun rrd migrate`](https://rerun.io/docs/reference/cli#rerun-rrd-migrate) updates them if it cannot. | |
| > The arm meshes do not show up in the 3D view when you run the command above. | |
| > You have to register `assets/urdf-model.rrd` as the dataset's asset on a catalog to view them. | |
| > See [Local Catalog](https://github.com/rerun-io/rrd-datasets/tree/main/examples/libero#4-local-catalog) on [rerun-io/rrd-datasets](https://github.com/rerun-io/rrd-datasets). | |
| ### Copy the whole bucket | |
| The whole bucket fits on a local disk: `hf buckets sync hf://buckets/rerun/libero .` copies it. | |
| It is also reachable over an [S3-compatible API](https://huggingface.co/docs/hub/main/en/storage-buckets-s3#import-data-using-rclone), so `rclone` can stream it straight into your own S3-compatible storage. | |
| ## Scope | |
| Conversion code is published at [rerun-io/rrd-datasets](https://github.com/rerun-io/rrd-datasets). | |
| The code and these recordings demonstrate the conversion; they are not a versioned dataset release. | |
| Files may be regenerated or replaced, and converting the same demo twice does not give identical bytes. | |
| ## License | |
| Apache License 2.0, the same license as the source dataset — the full text ships as the `LICENSE` file at the root of this bucket. | |
| If you redistribute or build on this data, keep the attribution above and comply with the license terms. | |
| The shared arm model `assets/urdf-model.rrd` is the one file not derived from the source dataset. | |
| It carries geometry from Franka Robotics' [`franka_description`](https://github.com/frankaemika/franka_description) `fer` model, also Apache License 2.0, Copyright 2023 Franka Robotics GmbH. | |
| Its `NOTICE` ships beside the `LICENSE` at the bucket root, and applies to those meshes. | |
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