rpuns/libero-fork

Robotics Dataset

This dataset contains 1693 human-teleoperated demonstrations of 40 tabletop manipulation tasks with a Franka Panda robot, combining four LIBERO benchmarks (Spatial, Object, Goal, and 10) in LeRobot format, including RGB images, wrist images, states, and actions.

Catalog metadata

Repository owner: rpuns
Source: Hugging Face / LeRobot
Robot: panda
Episodes: 1693
Frames: 273465
Cameras: 0
Frames per second: 10
License: cc-by-4.0

Example tasks

put the white mug on the left plate and put the yellow and white mug on the right plate
put the white mug on the plate and put the chocolate pudding to the right of the plate
put the yellow and white mug in the microwave and close it
turn on the stove and put the moka pot on it
put both the alphabet soup and the cream cheese box in the basket
put both the alphabet soup and the tomato sauce in the basket
put both moka pots on the stove
put both the cream cheese box and the butter in the basket
put the black bowl in the bottom drawer of the cabinet and close it
pick up the book and place it in the back compartment of the caddy

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