Search is not available for this dataset
observation.state listlengths 10 10 | action listlengths 10 10 | timestamp float32 0 50.4 | frame_index int64 0 504 | episode_index int64 0 1.69k | index int64 0 273k | task_index int64 0 39 |
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0.04273756220936775,
0.9916338920593262,
-0.12180204689502716,
1
] | 9.7 | 97 | 0 | 97 | 0 |
[
-0.011289662681519985,
-0.262305349111557,
0.5662709474563599,
0.97430819272995,
0.09556502848863602,
-0.20393840968608856,
0.11103812605142593,
-0.991635262966156,
0.06580273061990738,
-0.4418409764766693
] | [
0.1875,
0.09375,
0.4848214387893677,
0.9991723299026489,
-0.040600113570690155,
0.00250477297231555,
0.040600113570690155,
0.9915921092033386,
-0.12286876142024994,
1
] | 9.8 | 98 | 0 | 98 | 0 |
[
-0.008802009746432304,
-0.2618285119533539,
0.5724768042564392,
0.9746604561805725,
0.08754327148199081,
-0.20584741234779358,
0.10595063120126724,
-0.9911359548568726,
0.08014970272779465,
-0.24008934199810028
] | [
0.16875000298023224,
0.13124999403953552,
0.5116071701049805,
0.9990829229354858,
-0.042735688388347626,
0.0026365637313574553,
0.042735688388347626,
0.9915028214454651,
-0.12286509573459625,
1
] | 9.9 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
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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