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README.md

@@ -0,0 +1,30 @@
+---
+language:
+- en
+license: mit
+tags:
+- robotics
+- libero
+- lerobot
+- depth
+- layout-conditioning
+size_categories:
+- 100K<n<1M
+---
+# LIBERO Layout: GT and DA3
+
+LIBERO spatial, object, goal and 10 suites: 1,695 successful replay episodes, 274,008 frames, 10 Hz. Derived from LIBERO demonstrations for layout-conditioned robot policy training.
+
+## Files
+
+- `data/` and `meta/`: LeRobot v2.1 trajectory dataset. RGB main and wrist images are 256x256; state float32[8]; actions float32[7]. Tasks provide language instructions.
+- `layouts/`: episode-indexed arrays. For each of pre, post_raw, post_retreat: RGB uint8[E,256,256,3], GT depth float16[E,256,256] metres, DA3 depth float16[E,256,256] metres.
+- `layouts/retreat_success.npy`: choose post_retreat when true, otherwise post_raw.
+- `layouts/meta.json`: episode provenance and camera information.
+- `norm_stats/norm_stats.json`: openpi normalization statistics, action horizon 10.
+
+GT and DA3 share the exact same trajectories. Select *_depth_gt.npy for simulator depth or *_depth_da3.npy for DA3METRIC-LARGE estimated metric depth (not aligned to GT). Layout row e matches trajectory episode_index e. Pre is the initial frame; post_raw is the state after the final action; post_retreat is captured after withdrawing the robot.
+
+A training sample combines current main/wrist RGB, state, a 10-step action chunk, language and pre/post layout images. Depth arrays store raw metres; image encoding happens at training time. Per-frame auxiliary depth supervision is not included.
+
+Source benchmark: https://github.com/Lifelong-Robot-Learning/LIBERO

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layouts/inspect_report.json

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+ "name": "libero_layout",
+ "repo_id": "jianuo/libero_layout",
+ "num_episodes": 1695,
+ "num_frames": 274008,
+ "suites": {
+  "libero_spatial": {
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+   "kept_of_raw": "434/500",
+   "frames": 53139,
+   "post_retreat_success_rate": 0.9977
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+   "frames": 66473,
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+   "post_retreat_success_rate": 0.9813
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+  "libero_10": {
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+   "kept_of_raw": "383/500",
+   "frames": 102634,
+   "post_retreat_success_rate": 0.8903
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+ "da3_vs_gt_tabletop(<1.5m)_pre_and_post_retreat": {
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+ }
+}

meta/info.json

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+    "codebase_version": "v2.1",
+    "robot_type": "panda",
+    "total_episodes": 1695,
+    "total_frames": 274008,
+    "total_tasks": 40,
+    "total_videos": 0,
+    "total_chunks": 2,
+    "chunks_size": 1000,
+    "fps": 10,
+    "splits": {
+        "train": "0:1695"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+            "dtype": "image",
+            "shape": [
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+                256,
+                3
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+            "names": [
+                "height",
+                "width",
+                "channel"
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+        "wrist_image": {
+            "dtype": "image",
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+                256,
+                256,
+                3
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+            "names": [
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+                "width",
+                "channel"
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meta/tasks.jsonl

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+{"task_index": 0, "task": "pick up the black bowl between the plate and the ramekin and place it on the plate"}
+{"task_index": 1, "task": "pick up the black bowl next to the ramekin and place it on the plate"}
+{"task_index": 2, "task": "pick up the black bowl from table center and place it on the plate"}
+{"task_index": 3, "task": "pick up the black bowl on the cookie box and place it on the plate"}
+{"task_index": 4, "task": "pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate"}
+{"task_index": 5, "task": "pick up the black bowl on the ramekin and place it on the plate"}
+{"task_index": 6, "task": "pick up the black bowl next to the cookie box and place it on the plate"}
+{"task_index": 7, "task": "pick up the black bowl on the stove and place it on the plate"}
+{"task_index": 8, "task": "pick up the black bowl next to the plate and place it on the plate"}
+{"task_index": 9, "task": "pick up the black bowl on the wooden cabinet and place it on the plate"}
+{"task_index": 10, "task": "pick up the alphabet soup and place it in the basket"}
+{"task_index": 11, "task": "pick up the cream cheese and place it in the basket"}
+{"task_index": 12, "task": "pick up the salad dressing and place it in the basket"}
+{"task_index": 13, "task": "pick up the bbq sauce and place it in the basket"}
+{"task_index": 14, "task": "pick up the ketchup and place it in the basket"}
+{"task_index": 15, "task": "pick up the tomato sauce and place it in the basket"}
+{"task_index": 16, "task": "pick up the butter and place it in the basket"}
+{"task_index": 17, "task": "pick up the milk and place it in the basket"}
+{"task_index": 18, "task": "pick up the chocolate pudding and place it in the basket"}
+{"task_index": 19, "task": "pick up the orange juice and place it in the basket"}
+{"task_index": 20, "task": "open the middle drawer of the cabinet"}
+{"task_index": 21, "task": "put the bowl on the stove"}
+{"task_index": 22, "task": "put the wine bottle on top of the cabinet"}
+{"task_index": 23, "task": "open the top drawer and put the bowl inside"}
+{"task_index": 24, "task": "put the bowl on top of the cabinet"}
+{"task_index": 25, "task": "push the plate to the front of the stove"}
+{"task_index": 26, "task": "put the cream cheese in the bowl"}
+{"task_index": 27, "task": "turn on the stove"}
+{"task_index": 28, "task": "put the bowl on the plate"}
+{"task_index": 29, "task": "put the wine bottle on the rack"}
+{"task_index": 30, "task": "put both the alphabet soup and the tomato sauce in the basket"}
+{"task_index": 31, "task": "put both the cream cheese box and the butter in the basket"}
+{"task_index": 32, "task": "turn on the stove and put the moka pot on it"}
+{"task_index": 33, "task": "put the black bowl in the bottom drawer of the cabinet and close it"}
+{"task_index": 34, "task": "put the white mug on the left plate and put the yellow and white mug on the right plate"}
+{"task_index": 35, "task": "pick up the book and place it in the back compartment of the caddy"}
+{"task_index": 36, "task": "put the white mug on the plate and put the chocolate pudding to the right of the plate"}
+{"task_index": 37, "task": "put both the alphabet soup and the cream cheese box in the basket"}
+{"task_index": 38, "task": "put both moka pots on the stove"}
+{"task_index": 39, "task": "put the yellow and white mug in the microwave and close it"}

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