openvla_modified_libero_rlds

# Modified LIBERO RLDS Datasets This repository contains the four modified [LIBERO](https://libero-project.github.io/main.html) datasets used in the OpenVLA fine-tuning experiments, stored in RLDS data format. See Appendix E in the [OpenVLA paper](https://arxiv.org/abs/2406.09246) for details about the fine-tuning experiments and specific dataset modifications, and see the [OpenVLA GitHub README](https://github.com/openvla/openvla/blob/main/README.md) for instructions on how to run OpenVLA in LIBERO environments. ## Citation **BibTeX:** ```bibtex @article{kim24openvla, title={OpenVLA: An Open-Source Vision-Language-Action Model}, author={{Moo Jin} Kim and Karl Pertsch and Siddharth Karamcheti and Ted Xiao and Ashwin Balakrishna and Suraj Nair and Rafael Rafailov and Ethan Foster and Grace Lam and Pannag Sanketi and Quan Vuong and Thomas Kollar and Benjamin Burchfiel and Russ Tedrake and Dorsa Sadigh and Sergey Levine and Percy Liang and Chelsea Finn}, journal = {arXiv preprint arXiv:2406.09246}, year={2024} } ``` Please also refer to the [LIBERO project repo](https://github.com/Lifelong-Robot-Learning/LIBERO) for the LIBERO citation.# 修改版LIBERO RLDS 数据集 本代码仓库包含用于OpenVLA微调实验的四个经过修改的LIBERO数据集（相关项目主页：https://libero-project.github.io/main.html），存储格式为RLDS数据格式。如需了解微调实验与数据集的具体修改细节，请参阅OpenVLA论文（https://arxiv.org/abs/2406.09246）中的附录E；如需了解如何在LIBERO环境中运行OpenVLA，请参阅OpenVLA的GitHub README文件（https://github.com/openvla/openvla/blob/main/README.md）。 ## 引用 **BibTeX格式：** bibtex @article{kim24openvla, title={OpenVLA: An Open-Source Vision-Language-Action Model}, author={{Moo Jin} Kim and Karl Pertsch and Siddharth Karamcheti and Ted Xiao and Ashwin Balakrishna and Suraj Nair and Rafael Rafailov and Ethan Foster and Grace Lam and Pannag Sanketi and Quan Vuong and Thomas Kollar and Benjamin Burchfiel and Russ Tedrake and Dorsa Sadigh and Sergey Levine and Percy Liang and Chelsea Finn}, journal = {arXiv预印本 arXiv:2406.09246}, year={2024} } 如需获取LIBERO的引用规范，请同时参阅LIBERO项目仓库（https://github.com/Lifelong-Robot-Learning/LIBERO）。

搜集汇总

背景与挑战

背景概述

该数据集以RLDS格式存储了四个经过修改的LIBERO数据集，专用于OpenVLA模型的微调实验。具体修改细节和实验说明可参考OpenVLA论文附录E及其GitHub文档。