LIBERO Combined 4x10 — canonical EEF v2
This repository contains 1,693 oracle episodes for the 40 LIBERO evaluation
tasks at their native 10 Hz. The persisted action contract is
eef_absolute_next_observation_wxyz_v2.
State and action
observation.state and action are both
[x, y, z, qw, qx, qy, qz, gripper]: metres, scalar-first WXYZ quaternion,
and symmetric finger openness in metres. On every row where
transition_action_valid=true, action[t] equals the next persisted
observation.state[t+1] in the same episode. Terminal or broken transitions
are false and must contribute to no action, future, progress, or normalization
loss.
The former same-row normalized OSC command is not present and is unsupported. LIBERO environments still consume OSC; evaluation converts an absolute target back to a native command from the latest measured pose.
Preserved payload
Episode indices, frame indices, timestamps, tasks, and both original H.264
video streams are unchanged. Videos were not re-encoded for this schema repair.
Machine-readable semantics live in meta/action_contract.json,
meta/modality.json, and collection_manifest.json.
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