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# 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.

# 改进版LIBERO RLDS数据集
本仓库包含用于OpenVLA微调实验的四个改进版[LIBERO](https://libero-project.github.io/main.html)数据集，采用强化学习数据集套件（Reinforcement Learning Dataset Suite，RLDS）数据格式存储。有关微调实验与数据集具体改进细节，请参阅[OpenVLA论文](https://arxiv.org/abs/2406.09246)的附录E；若需了解如何在LIBERO环境中运行OpenVLA，请参阅[OpenVLA GitHub官方README文档](https://github.com/openvla/openvla/blob/main/README.md)。

## 引用说明
**BibTeX格式：**
bibtex
@article{kim24openvla,
title={OpenVLA：一款开源视觉-语言-动作模型},
author={{Moo Jin} Kim、Karl Pertsch、Siddharth Karamcheti、Ted Xiao、Ashwin Balakrishna、Suraj Nair、Rafael Rafailov、Ethan Foster、Grace Lam、Pannag Sanketi、Quan Vuong、Thomas Kollar、Benjamin Burchfiel、Russ Tedrake、Dorsa Sadigh、Sergey Levine、Percy Liang、Chelsea Finn},
journal = {arXiv预印本 arXiv:2406.09246},
year={2024}
}

此外，请参阅[LIBERO项目仓库](https://github.com/Lifelong-Robot-Learning/LIBERO)以获取LIBERO的引用信息。