Datasets:

lerobot
/

LIBERO-Cosmos3

The four LIBERO suites (Spatial, Object, Goal and LIBERO-10) in the layout of the Cosmos3 LIBERO recipe, converted from nvidia/LIBERO_LeRobot_v3 (libero_spatial, libero_object, libero_goal and libero_10). 1693 episodes, 273465 frames, 40 tasks, 20 FPS, LeRobot dataset v3.0.

This dataset was created using LeRobot. The Cosmos3 policies of LeRobot fine-tune on it (see the LeRobot Cosmos3 documentation).

Changes from the source

action: float32[10] [delta position (3), rot6d (6), gripper] with the channel names pos_0 to pos_2, rot6d_0 to rot6d_5 and gripper_0, instead of the float32[7] [delta position (3), axis angle (3), gripper] of the source. rot6d holds the first two columns of the rotation matrix of the axis angle, and the gripper (1 open, 0 closed) passes through. This is the action of the native Cosmos3 LIBERO recipe.
The wrist camera observation.images.wrist_image is renamed observation.images.image2, which is the camera key of the LeRobot LIBERO environment.
The action statistics in meta/stats.json (mean, std, min, max, q01, q99) are those of the native Cosmos3 LIBERO recipe.
The suites are merged in the order libero_spatial, libero_object, libero_goal and libero_10 with shifted episode, frame and task indices. The videos are byte copies of the source.

Dataset structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 20,
    "features": {
        "observation.images.image": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.image2": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "motors": [
                    "pos_0",
                    "pos_1",
                    "pos_2",
                    "axisangle_0",
                    "axisangle_1",
                    "axisangle_2",
                    "gripper_0",
                    "gripper_1"
                ]
            },
            "fps": 20
        },
        "action": {
            "dtype": "float32",
            "shape": [
                10
            ],
            "names": {
                "motors": [
                    "pos_0",
                    "pos_1",
                    "pos_2",
                    "rot6d_0",
                    "rot6d_1",
                    "rot6d_2",
                    "rot6d_3",
                    "rot6d_4",
                    "rot6d_5",
                    "gripper_0"
                ]
            },
            "fps": 20
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20
        }
    },
    "total_episodes": 1693,
    "total_frames": 273465,
    "total_tasks": 40,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "robot_type": "franka",
    "splits": {
        "train": "0:1693"
    }
}