lifelong-robot-learning/libero-90

LIBERO-90's short-horizon household tasks on a Franka Panda.

robouse run-many \
  --tasks "$(robouse tasks --path)/libero-90" \
  --harness claude-code \
  --out runs/libero-90

About this dataset

Embodiment: Franka Panda
Simulator: LIBERO (robosuite 1.4)
Needs: pip install 'robouse[sim]', then the LIBERO virtualenv
Release: Robo Use 0.6.1, suite libero-90
Licence: Task text and reference solutions Apache-2.0 (Robo Use); adapted from LIBERO by Lifelong Robot Learning, MIT (code); CC BY 4.0 (datasets; demonstration actions redistributed here)

Filter tasks

90 tasks

Sort

Filters

Preview

Details

Close the top drawer of the cabinet kitchen scene 10libero-90-0

Close the top drawer of the cabinet and put the black bowl on top of itlibero-90-1

Put the black bowl on top of the cabinet kitchen scene 1libero-90-10

Open the top drawer of the cabinet kitchen scene 2libero-90-11

Put the black bowl at the back on the platelibero-90-12

Put the black bowl at the front on the platelibero-90-13

Put the middle black bowl on the platelibero-90-14

Put the middle black bowl on top of the cabinetlibero-90-15

Stack the black bowl at the front on the black bowl in the middlelibero-90-16

Stack the middle black bowl on the back black bowllibero-90-17

Put the frying pan on the stovelibero-90-18

Put the moka pot on the stovelibero-90-19

Put the black bowl in the top drawer of the cabinet kitchen scene 10libero-90-2

Turn on the stovelibero-90-20

Turn on the stove and put the frying pan on it kitchen scene 3libero-90-21

Close the bottom drawer of the cabinetlibero-90-22

Close the bottom drawer of the cabinet and open the top drawerlibero-90-23

Put the black bowl in the bottom drawer of the cabinetlibero-90-24

Put the black bowl on top of the cabinet kitchen scene 4libero-90-25

Put the wine bottle in the bottom drawer of the cabinetlibero-90-26

Put the wine bottle on the wine racklibero-90-27

Close the top drawer of the cabinet kitchen scene 5libero-90-28

Put the black bowl in the top drawer of the cabinet kitchen scene 5libero-90-29

Put the butter at the back in the top drawer of the cabinet and close itlibero-90-3

Put the black bowl on the plate kitchen scene 5libero-90-30

Put the black bowl on top of the cabinet kitchen scene 5libero-90-31

Put the ketchup in the top drawer of the cabinetlibero-90-32

Close the microwavelibero-90-33

Put the yellow and white mug to the front of the white muglibero-90-34

Open the microwavelibero-90-35

Put the white bowl on the platelibero-90-36

Put the white bowl to the right of the platelibero-90-37

Put the right moka pot on the stovelibero-90-38

Turn off the stovelibero-90-39

Put the butter at the front in the top drawer of the cabinet and close itlibero-90-4

Put the frying pan on the cabinet shelflibero-90-40

Put the frying pan on top of the cabinetlibero-90-41

Put the frying pan under the cabinet shelflibero-90-42

Put the white bowl on top of the cabinetlibero-90-43

Turn on the stovelibero-90-44

Turn on the stove and put the frying pan on it kitchen scene 9libero-90-45

Pick up the alphabet soup and put it in the basket living room scene 1libero-90-46

Pick up the cream cheese box and put it in the basketlibero-90-47

Pick up the ketchup and put it in the basketlibero-90-48

Pick up the tomato sauce and put it in the basket living room scene 1libero-90-49

Put the chocolate pudding in the top drawer of the cabinet and close itlibero-90-5

Pick up the alphabet soup and put it in the basket living room scene 2libero-90-50

Pick up the butter and put it in the basketlibero-90-51

Pick up the milk and put it in the basketlibero-90-52

Pick up the orange juice and put it in the basketlibero-90-53

Pick up the tomato sauce and put it in the basket living room scene 2libero-90-54

Pick up the alphabet soup and put it in the traylibero-90-55

Pick up the butter and put it in the traylibero-90-56

Pick up the cream cheese and put it in the traylibero-90-57

Pick up the ketchup and put it in the traylibero-90-58

Pick up the tomato sauce and put it in the traylibero-90-59

Open the bottom drawer of the cabinetlibero-90-6

Pick up the black bowl on the left and put it in the traylibero-90-60

Pick up the chocolate pudding and put it in the traylibero-90-61

Pick up the salad dressing and put it in the traylibero-90-62

Stack the left bowl on the right bowl and place them in the traylibero-90-63

Stack the right bowl on the left bowl and place them in the traylibero-90-64

Put the red mug on the left platelibero-90-65

Put the red mug on the right platelibero-90-66

Put the white mug on the left platelibero-90-67

Put the yellow and white mug on the right platelibero-90-68

Put the chocolate pudding to the left of the platelibero-90-69

Open the top drawer of the cabinet kitchen scene 1libero-90-7

Put the chocolate pudding to the right of the platelibero-90-70

Put the red mug on the platelibero-90-71

Put the white mug on the platelibero-90-72

Pick up the book and place it in the front compartment of the caddy study scene 1libero-90-73

Pick up the book and place it in the left compartment of the caddy study scene 1libero-90-74

Pick up the book and place it in the right compartment of the caddy study scene 1libero-90-75

Pick up the yellow and white mug and place it to the right of the caddylibero-90-76

Pick up the book and place it in the back compartment of the caddylibero-90-77

Pick up the book and place it in the front compartment of the caddy study scene 2libero-90-78

Pick up the book and place it in the left compartment of the caddy study scene 2libero-90-79

Open the top drawer of the cabinet and put the bowl in itlibero-90-8

Pick up the book and place it in the right compartment of the caddy study scene 2libero-90-80

Pick up the book and place it in the front compartment of the caddy study scene 3libero-90-81

Pick up the book and place it in the left compartment of the caddy study scene 3libero-90-82

Pick up the book and place it in the right compartment of the caddy study scene 3libero-90-83

Pick up the red mug and place it to the right of the caddylibero-90-84

Pick up the white mug and place it to the right of the caddylibero-90-85

Pick up the book in the middle and place it on the cabinet shelflibero-90-86

Pick up the book on the left and place it on top of the shelflibero-90-87

Pick up the book on the right and place it on the cabinet shelflibero-90-88

Pick up the book on the right and place it under the cabinet shelflibero-90-89

Put the black bowl on the plate kitchen scene 1libero-90-9

↑ ↓ move between rows · Enter shows details · O opens the task

Each task is a folder in the task format, in tasks/libero-90/ of Robo Use 0.6.1. The task text is shown here; the reference solution and the verifier are on GitHub.