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.gitattributes

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 *.7z filter=lfs diff=lfs merge=lfs -text
 *.arrow filter=lfs diff=lfs merge=lfs -text
-*.avro filter=lfs diff=lfs merge=lfs -text
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README.md

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+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# LIBERO native-action EEF10 (LeRobot v3.0)
+
+This local dataset was converted from `lerobot/libero` at revision
+`a1aaacb7f6cd6ee5fb43120f673cebb0cfea7dd4` (local source: `/mnt/data/wangyuran/libero-lerobot`).  Its original parquet packing,
+episode offsets, tasks, 10 FPS timeline, and videos are preserved.
+
+Both primary robot columns use a 10-D interface:
+
+* `observation.state`: achieved `[xyz3, rot6d6, gripper_open_scale1]`
+* `action`: native normalized LIBERO `[delta_xyz3, delta_rot6d6, gripper_open_command1]`
+
+The action xyz values are copied unchanged from the source.  The action
+rotation is `rot6d(Exp(source_delta_axis_angle))`; no 0.05 m or 0.5 rad OSC
+scale is applied and it is not composed with the achieved state.  Native
+LIBERO uses `+1 = close`; the action gripper is negated to match the OpenWAM
+pretraining convention `-1 = closed, +1 = open`.  State gripper is projected
+from the achieved finger separation as
+`clip(2 * (qpos0 - qpos1) / 0.08 - 1, -1, 1)`.
+
+The training/deployment normalization artifact is
+`meta/normalization_stats.npy`.  It contains separate
+`libero` (action) and `libero_state` (state) blocks,
+and no pooled compatibility block.  The canonical LIBERO reader uses
+the separate blocks so achieved-state and command statistics are never mixed.
+Its six rot6d dimensions are hard
+identity-mapped during normalization, even if a stale/custom stats file is
+supplied.
+
+Dataset totals: 1693 episodes, 273465 frames,
+40 tasks, 10.0 FPS.  Full provenance and numerical
+round-trip checks are recorded in `meta/conversion.json`.

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meta/conversion.json

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+{
+  "action": "native normalized LIBERO [delta_xyz3, delta_rot6d6, gripper_open_command1]",
+  "action_gripper_formula": "open_command = -source_native_close_command",
+  "action_position_formula": "output_xyz = source_action_xyz (copied unchanged)",
+  "action_rotation_formula": "output_rot6d = rot6d(Exp(source_action_rotvec))",
+  "action_rotation_scale_applied": 1.0,
+  "rot6d_normalization": "identity",
+  "created_at": "2026-08-29T06:30:55.684238+00:00",
+  "independent_copied_files": true,
+  "normalization_stats_file": "meta/normalization_stats.npy",
+  "normalization_stats_keys": {
+    "action": "libero",
+    "state": "libero_state"
+  },
+  "output_representation": "native_delta_eef10",
+  "preserved": {
+    "episode_metadata_and_offsets": true,
+    "episodes": 1693,
+    "fps": 10.0,
+    "frames": 273465,
+    "parquet_file_count": 377,
+    "parquet_row_order_and_nonconverted_columns": true,
+    "tasks": 40,
+    "video_bytes_and_timestamps": true,
+    "video_file_count": 74
+  },
+  "roundtrip_max_abs_error": {
+    "gripper": 0.0,
+    "position": 0.0,
+    "rotation": 2.4177677138137454e-08
+  },
+  "source_gripper_is_continuous": true,
+  "source_gripper_observed_range": [
+    -1.0,
+    1.0
+  ],
+  "source_repo_id": "lerobot/libero",
+  "source_revision": "a1aaacb7f6cd6ee5fb43120f673cebb0cfea7dd4",
+  "source_root": "/mnt/data/wangyuran/libero-lerobot",
+  "state": "achieved [xyz3, rot6d6, gripper_open_scale1]",
+  "state_gripper_formula": "clip(2 * (source_qpos0 - source_qpos1) / 0.08 - 1, -1, 1)",
+  "state_gripper_projection": {
+    "max_abs_finger_joint_sum": 0.04134345974307507,
+    "max_width_clip_error_m": 0.002002341747283934,
+    "rows_outside_nominal_width": 2972,
+    "source_joint_pair_is_not_bijectively_recoverable": true
+  },
+  "video_reencoded": false
+}

meta/info.json

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+{
+  "chunks_size": 1000,
+  "codebase_version": "v3.0",
+  "data_files_size_in_mb": 100,
+  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+  "features": {
+    "action": {
+      "dtype": "float32",
+      "fps": 10.0,
+      "names": {
+        "motors": [
+          "eef_native_delta_x",
+          "eef_native_delta_y",
+          "eef_native_delta_z",
+          "eef_native_delta_rot6d_col0_x",
+          "eef_native_delta_rot6d_col0_y",
+          "eef_native_delta_rot6d_col0_z",
+          "eef_native_delta_rot6d_col1_x",
+          "eef_native_delta_rot6d_col1_y",
+          "eef_native_delta_rot6d_col1_z",
+          "gripper_open_command"
+        ]
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+      "shape": [
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+        "video.channels": 3,
+        "video.codec": "av1",
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+        "video.height": 256,
+        "video.is_depth_map": false,
+        "video.pix_fmt": "yuv420p",
+        "video.width": 256
+      },
+      "names": [
+        "height",
+        "width",
+        "channel"
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+        "video.is_depth_map": false,
+        "video.pix_fmt": "yuv420p",
+        "video.width": 256
+      },
+      "names": [
+        "height",
+        "width",
+        "channel"
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+      "shape": [
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+    "observation.state": {
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+      "fps": 10.0,
+      "names": {
+        "states": [
+          "eef_x",
+          "eef_y",
+          "eef_z",
+          "rot6d_col0_x",
+          "rot6d_col0_y",
+          "rot6d_col0_z",
+          "rot6d_col1_x",
+          "rot6d_col1_y",
+          "rot6d_col1_z",
+          "gripper_open_scale"
+        ]
+      },
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+        10
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+    "timestamp": {
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+      "names": null,
+      "shape": [
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+    }
+  },
+  "fps": 10.0,
+  "robot_type": "panda",
+  "splits": {
+    "train": "0:1693"
+  },
+  "total_episodes": 1693,
+  "total_frames": 273465,
+  "total_tasks": 40,
+  "video_files_size_in_mb": 500,
+  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
+}

meta/stats.json

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