| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - LIBERO |
| - imitation-learning |
| - robotics |
| pretty_name: LIBERO Spatial Image — LIBERO Task 0 |
| --- |
| |
| # LIBERO Spatial Image — LIBERO Task 0 |
|
|
| This is a single-task subset derived from |
| [`lerobot/libero_spatial_image`](https://huggingface.co/datasets/lerobot/libero_spatial_image). |
| Its name follows the canonical task order of the LIBERO benchmark used at |
| runtime by verl-vla. |
|
|
| The selected task is LIBERO Spatial `task_id=0`: |
|
|
| > Pick up the black bowl between the plate and the ramekin and place it on the plate. |
|
|
| In the upstream LeRobot dataset's local task table, the same task is stored as |
| `task_index=4`. The numeric IDs differ because the upstream dataset and LIBERO |
| benchmark use different task-table orderings. |
|
|
| ## Dataset summary |
|
|
| - Format: LeRobot v3.0 |
| - Robot: Panda |
| - Frequency: 10 FPS |
| - Episodes: 45 |
| - Frames: 4,487 |
| - Tasks: 1 |
| - Canonical LIBERO task ID: 0 |
| - Upstream dataset-local task index: 4 |
| - Observations: agent-view image, wrist image, and 8-dimensional robot state |
| - Actions: 7-dimensional continuous action |
|
|
| ## Derivation and validation |
|
|
| All upstream episodes whose task description exactly matches the LIBERO task-0 |
| description were selected. Observation and action values were copied without |
| modification, while episode, frame, sample, and dataset-local task indices were |
| rebuilt into a contiguous single-task LeRobot dataset. |
|
|
| Images are losslessly encoded as PNG data. The first extracted episode was |
| checked for exact tensor equality against its source episode for both images, |
| state, and action. Global image mean and standard deviation were recomputed |
| directly from all 4,487 decoded frames because the installed LeRobot version's |
| per-episode image-statistics aggregation produced invalid near-zero standard |
| deviations during subset creation. |
|
|
| This is a derived subset, not an independently collected dataset. Refer to the |
| upstream dataset and the [LIBERO project](https://libero-project.github.io/) for |
| the original collection and benchmark details. |
|
|
| ## Loading with LeRobot |
|
|
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| |
| dataset = LeRobotDataset("Miical/libero_spatial_image_task0") |
| ``` |
|
|
| ## License and attribution |
|
|
| The upstream dataset is published under the Apache-2.0 license. This derived |
| subset retains that license. Please credit the upstream LeRobot dataset and |
| LIBERO when using it. |
|
|
