libero_plus_lerobot_v30

LIBERO+（LeRobot v3.0, TsFile）是一个大型机器人操作数据集，基于Apache TsFile格式存储。它包含LIBERO基准任务，使用LeRobot（代码库v3.0）在Franka Emika panda机械臂上记录。每个episode展示了40个语言条件桌面操作任务之一（例如拾取、放置、打开抽屉、操作炉灶等）。机器人状态为panda（8自由度观测状态，7自由度动作）。数据集包含14,347个episodes（单一训练分割），总帧数为2,238,036帧，采样率为20 fps（每50毫秒一帧）。任务示例包括“将奶油奶酪放入碗中”、“打开橱柜的中间抽屉”、“拿起牛奶并放入篮子”。数据以TsFile结构存储，使用episode_index和task_index作为标签列，并包含时间、帧索引、观测状态和动作字段。相机视频流未包含在此存储库中，保留在原始数据集的videos/目录下。

LIBERO+ (LeRobot v3.0, TsFile) is a large-scale robot manipulation dataset stored in Apache TsFile format. It includes LIBERO benchmark tasks, recorded using LeRobot (codebase v3.0) on a Franka Emika panda robot arm. Each episode demonstrates one of 40 language-conditioned desktop manipulation tasks (e.g., pick, place, open drawer, operate stove, etc.). The robot state is panda (8-DoF observation state, 7-DoF action). The dataset contains 14,347 episodes (single training split), with a total of 2,238,036 frames at a sampling rate of 20 fps (one frame per 50 milliseconds). Task examples include put the cream cheese in the bowl, open the middle drawer of the cabinet, pick up the milk and put it in the basket. Data is stored in TsFile structure, using episode_index and task_index as label columns, and includes fields for time, frame index, observation state, and action. Camera video streams are not included in this repository and are retained in the original datasets videos/ directory.