Initial upload of libero* datasets

.gitattributes

@@ -57,3 +57,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+meta/episodes_stats.jsonl filter=lfs diff=lfs merge=lfs -text

meta/episodes_stats.jsonl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cfe89b164c8e762ec3998dc9577557af94fc50658f4771d8b01f741c6db57ca
+size 22935022

meta/info.json

@@ -0,0 +1,179 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "franka",
+    "total_episodes": 5663,
+    "total_frames": 851297,
+    "total_tasks": 111,
+    "total_videos": 11326,
+    "total_chunks": 6,
+    "chunks_size": 1000,
+    "fps": 20,
+    "splits": {
+        "train": "0:5663"
+    },
+    "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": {
+        "observation.images.image": {
+            "dtype": "video",
+            "shape": [
+                256,
+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "rgb"
+            ],
+            "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.wrist_image": {
+            "dtype": "video",
+            "shape": [
+                256,
+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "rgb"
+            ],
+            "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": [
+                    "x",
+                    "y",
+                    "z",
+                    "roll",
+                    "pitch",
+                    "yaw",
+                    "gripper",
+                    "gripper"
+                ]
+            }
+        },
+        "observation.states.ee_state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": {
+                "motors": [
+                    "x",
+                    "y",
+                    "z",
+                    "roll",
+                    "pitch",
+                    "yaw"
+                ]
+            }
+        },
+        "observation.states.joint_state": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": {
+                "motors": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6"
+                ]
+            }
+        },
+        "observation.states.gripper_state": {
+            "dtype": "float32",
+            "shape": [
+                2
+            ],
+            "names": {
+                "motors": [
+                    "gripper",
+                    "gripper"
+                ]
+            }
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": {
+                "motors": [
+                    "x",
+                    "y",
+                    "z",
+                    "roll",
+                    "pitch",
+                    "yaw",
+                    "gripper"
+                ]
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1,111 @@
+{"task_index": 0, "task": "turn on the stove and put the moka pot on it"}
+{"task_index": 1, "task": "put both the cream cheese box and the butter in the basket"}
+{"task_index": 2, "task": "pick up the book and place it in the back compartment of the caddy"}
+{"task_index": 3, "task": "put both the alphabet soup and the cream cheese box in the basket"}
+{"task_index": 4, "task": "put both the alphabet soup and the tomato sauce in the basket"}
+{"task_index": 5, "task": "put both moka pots on the stove"}
+{"task_index": 6, "task": "put the yellow and white mug in the microwave and close it"}
+{"task_index": 7, "task": "put the black bowl in the bottom drawer of the cabinet and close it"}
+{"task_index": 8, "task": "put the white mug on the left plate and put the yellow and white mug on the right plate"}
+{"task_index": 9, "task": "put the white mug on the plate and put the chocolate pudding to the right of the plate"}
+{"task_index": 10, "task": "pick up the book and place it in the right compartment of the caddy"}
+{"task_index": 11, "task": "pick up the alphabet soup and put it in the basket"}
+{"task_index": 12, "task": "pick up the cream cheese and put it in the tray"}
+{"task_index": 13, "task": "pick up the tomato sauce and put it in the basket"}
+{"task_index": 14, "task": "put the black bowl on top of the cabinet"}
+{"task_index": 15, "task": "put the middle black bowl on the plate"}
+{"task_index": 16, "task": "put the white bowl on top of the cabinet"}
+{"task_index": 17, "task": "put the wine bottle on the wine rack"}
+{"task_index": 18, "task": "put the black bowl in the top drawer of the cabinet"}
+{"task_index": 19, "task": "put the yellow and white mug on the right plate"}
+{"task_index": 20, "task": "put the white bowl on the plate"}
+{"task_index": 21, "task": "turn on the stove and put the frying pan on it"}
+{"task_index": 22, "task": "pick up the book and place it in the front compartment of the caddy"}
+{"task_index": 23, "task": "put the right moka pot on the stove"}
+{"task_index": 24, "task": "put the middle black bowl on top of the cabinet"}
+{"task_index": 25, "task": "put the red mug on the plate"}
+{"task_index": 26, "task": "put the frying pan under the cabinet shelf"}
+{"task_index": 27, "task": "close the microwave"}
+{"task_index": 28, "task": "put the butter at the back in the top drawer of the cabinet and close it"}
+{"task_index": 29, "task": "put the red mug on the left plate"}
+{"task_index": 30, "task": "open the microwave"}
+{"task_index": 31, "task": "pick up the yellow and white mug and place it to the right of the caddy"}
+{"task_index": 32, "task": "pick up the book in the middle and place it on the cabinet shelf"}
+{"task_index": 33, "task": "put the chocolate pudding in the top drawer of the cabinet and close it"}
+{"task_index": 34, "task": "put the chocolate pudding to the right of the plate"}
+{"task_index": 35, "task": "put the chocolate pudding to the left of the plate"}
+{"task_index": 36, "task": "close the top drawer of the cabinet and put the black bowl on top of it"}
+{"task_index": 37, "task": "pick up the orange juice and put it in the basket"}
+{"task_index": 38, "task": "put the wine bottle in the bottom drawer of the cabinet"}
+{"task_index": 39, "task": "close the bottom drawer of the cabinet and open the top drawer"}
+{"task_index": 40, "task": "put the frying pan on the cabinet shelf"}
+{"task_index": 41, "task": "put the ketchup in the top drawer of the cabinet"}
+{"task_index": 42, "task": "put the butter at the front in the top drawer of the cabinet and close it"}
+{"task_index": 43, "task": "pick up the chocolate pudding and put it in the tray"}
+{"task_index": 44, "task": "put the black bowl at the front on the plate"}
+{"task_index": 45, "task": "pick up the book and place it in the left compartment of the caddy"}
+{"task_index": 46, "task": "stack the right bowl on the left bowl and place them in the tray"}
+{"task_index": 47, "task": "stack the middle black bowl on the back black bowl"}
+{"task_index": 48, "task": "close the bottom drawer of the cabinet"}
+{"task_index": 49, "task": "pick up the book on the right and place it under the cabinet shelf"}
+{"task_index": 50, "task": "put the yellow and white mug to the front of the white mug"}
+{"task_index": 51, "task": "put the white mug on the plate"}
+{"task_index": 52, "task": "turn on the stove"}
+{"task_index": 53, "task": "put the black bowl in the bottom drawer of the cabinet"}
+{"task_index": 54, "task": "pick up the cream cheese box and put it in the basket"}
+{"task_index": 55, "task": "pick up the tomato sauce and put it in the tray"}
+{"task_index": 56, "task": "pick up the white mug and place it to the right of the caddy"}
+{"task_index": 57, "task": "pick up the alphabet soup and put it in the tray"}
+{"task_index": 58, "task": "pick up the milk and put it in the basket"}
+{"task_index": 59, "task": "stack the left bowl on the right bowl and place them in the tray"}
+{"task_index": 60, "task": "pick up the red mug and place it to the right of the caddy"}
+{"task_index": 61, "task": "put the white mug on the left plate"}
+{"task_index": 62, "task": "pick up the ketchup and put it in the tray"}
+{"task_index": 63, "task": "pick up the book on the left and place it on top of the shelf"}
+{"task_index": 64, "task": "put the black bowl at the back on the plate"}
+{"task_index": 65, "task": "put the frying pan on top of the cabinet"}
+{"task_index": 66, "task": "pick up the salad dressing and put it in the tray"}
+{"task_index": 67, "task": "put the red mug on the right plate"}
+{"task_index": 68, "task": "pick up the butter and put it in the tray"}
+{"task_index": 69, "task": "pick up the ketchup and put it in the basket"}
+{"task_index": 70, "task": "open the top drawer of the cabinet"}
+{"task_index": 71, "task": "open the top drawer of the cabinet and put the bowl in it"}
+{"task_index": 72, "task": "put the white bowl to the right of the plate"}
+{"task_index": 73, "task": "put the frying pan on the stove"}
+{"task_index": 74, "task": "pick up the black bowl on the left and put it in the tray"}
+{"task_index": 75, "task": "put the black bowl on the plate"}
+{"task_index": 76, "task": "stack the black bowl at the front on the black bowl in the middle"}
+{"task_index": 77, "task": "pick up the book on the right and place it on the cabinet shelf"}
+{"task_index": 78, "task": "put the moka pot on the stove"}
+{"task_index": 79, "task": "close the top drawer of the cabinet"}
+{"task_index": 80, "task": "turn off the stove"}
+{"task_index": 81, "task": "open the bottom drawer of the cabinet"}
+{"task_index": 82, "task": "pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate"}
+{"task_index": 83, "task": "pick up the black bowl next to the cookie box and place it on the plate"}
+{"task_index": 84, "task": "pick up the black bowl next to the ramekin and place it on the plate"}
+{"task_index": 85, "task": "pick up the black bowl on the cookie box and place it on the plate"}
+{"task_index": 86, "task": "pick up the black bowl next to the plate and place it on the plate"}
+{"task_index": 87, "task": "pick up the black bowl on the ramekin and place it on the plate"}
+{"task_index": 88, "task": "pick up the black bowl between the plate and the ramekin and place it on the plate"}
+{"task_index": 89, "task": "pick up the black bowl from table center and place it on the plate"}
+{"task_index": 90, "task": "pick up the black bowl on the wooden cabinet and place it on the plate"}
+{"task_index": 91, "task": "pick up the black bowl on the stove and place it on the plate"}
+{"task_index": 92, "task": "put the bowl on top of the cabinet"}
+{"task_index": 93, "task": "push the plate to the front of the stove"}
+{"task_index": 94, "task": "open the middle drawer of the cabinet"}
+{"task_index": 95, "task": "put the cream cheese in the bowl"}
+{"task_index": 96, "task": "put the bowl on the plate"}
+{"task_index": 97, "task": "put the bowl on the stove"}
+{"task_index": 98, "task": "put the wine bottle on top of the cabinet"}
+{"task_index": 99, "task": "open the top drawer and put the bowl inside"}
+{"task_index": 100, "task": "put the wine bottle on the rack"}
+{"task_index": 101, "task": "pick up the butter and place it in the basket"}
+{"task_index": 102, "task": "pick up the chocolate pudding and place it in the basket"}
+{"task_index": 103, "task": "pick up the milk and place it in the basket"}
+{"task_index": 104, "task": "pick up the ketchup and place it in the basket"}
+{"task_index": 105, "task": "pick up the alphabet soup and place it in the basket"}
+{"task_index": 106, "task": "pick up the cream cheese and place it in the basket"}
+{"task_index": 107, "task": "pick up the orange juice and place it in the basket"}
+{"task_index": 108, "task": "pick up the tomato sauce and place it in the basket"}
+{"task_index": 109, "task": "pick up the salad dressing and place it in the basket"}
+{"task_index": 110, "task": "pick up the bbq sauce and place it in the basket"}