daixianjie/controlled_icil_libero_j0_j5

---
tags:
- lerobot
- libero
- robotics
- imitation-learning
- controlled-icil
license: apache-2.0
---

# Controlled ICIL LIBERO Atomic Dataset

This dataset is stored in LeRobot v2 format and contains controlled atomic
LIBERO pick-and-place demonstrations.

## Contents

- Episodes: 576
- Frames: 60,925
- FPS: 10
- Objects: BBQ sauce, tomato sauce, ketchup, salad dressing
- Layouts: 24
- Jitters: J0-J5
- Videos: none

The parquet training features are intentionally limited to:

- `image`
- `wrist_image`
- `state`
- `actions`
- standard LeRobot indices and timestamps

Controlled ICIL metadata is stored outside the parquet feature schema under:

`meta/controlled_icil/`

Those sidecar files contain layout definitions, split indices, source episode
lookups, and collection/debug metadata. Standard LeRobot/OpenPI dataloaders do
not load these sidecar files unless explicitly requested by downstream tools.