Add the LIBERO-Cosmos3 dataset

LICENSE

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+OpenMDW License Agreement, version 1.1 (OpenMDW-1.1)
+
+By exercising rights granted to you under this agreement, you accept and agree
+to its terms.
+
+As used in this agreement, "Model Materials" means the materials provided to
+you under this agreement, consisting of: (1) one or more machine learning
+models (including architecture and parameters); and (2) all related artifacts
+(including associated data, documentation and software) that are provided to
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+Subject to your compliance with this agreement, permission is hereby granted,
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README.md

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+---
+license: other
+license_name: openmdw1.1
+license_link: https://openmdw.ai/license/1-1/
+task_categories:
+  - robotics
+tags:
+  - LeRobot
+  - libero
+  - cosmos3
+configs:
+  - config_name: default
+    data_files: data/*/*.parquet
+---
+
+# 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](https://huggingface.co/datasets/nvidia/LIBERO_LeRobot_v3/tree/e5907374380b8f96511957e6ba5582be52a1e179) (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](https://github.com/huggingface/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](meta/info.json):
+
+```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"
+    }
+}
+```
+
+## License
+
+The source dataset and this conversion use [OpenMDW 1.1](LICENSE).

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+                256,
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+                "height",
+                "width",
+                "channels"
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+                "video.width": 256,
+                "video.codec": "av1",
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+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
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+                "width",
+                "channels"
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+                "video.width": 256,
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+                    "gripper_1"
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+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "robot_type": "franka",
+    "splits": {
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+    }
+}

meta/stats.json

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