lifelong-robot-learning/libero
LIBERO's four standard suites on a Franka Panda.
robouse run-many \
--tasks "$(robouse tasks --path)/libero" \
--harness claude-code \
--out runs/liberoAbout 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 - 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)
40 tasks
Budget
Budget
put both the alphabet soup and the tomato sauce in the basket.
Franka Panda520 stepsends when first reached
put both the cream cheese box and the butter in the basket.
Franka Panda520 stepsends when first reached
libero-10-2turn on the stove and put the moka pot on it.
Franka Panda520 stepsends when first reached
put the black bowl in the bottom drawer of the cabinet and close it.
Franka Panda520 stepsends when first reached
put the white mug on the left plate and put the yellow and white mug on the right plate.
Franka Panda520 stepsends when first reached
pick up the book and place it in the back compartment of the caddy.
Franka Panda520 stepsends when first reached
put the white mug on the plate and put the chocolate pudding to the right of the plate.
Franka Panda520 stepsends when first reached
put both the alphabet soup and the cream cheese box in the basket.
Franka Panda520 stepsends when first reached
put the yellow and white mug in the microwave and close it.
Franka Panda520 stepsends when first reached
libero-goal-0open the middle drawer of the cabinet.
Franka Panda300 stepsends when first reached
libero-goal-2put the wine bottle on top of the cabinet.
Franka Panda300 stepsends when first reached
libero-goal-3open the top drawer and put the bowl inside.
Franka Panda300 stepsends when first reached
libero-goal-5push the plate to the front of the stove.
Franka Panda300 stepsends when first reached
libero-object-0pick up the alphabet soup and place it in the basket.
Franka Panda280 stepsends when first reached
libero-object-1pick up the cream cheese and place it in the basket.
Franka Panda280 stepsends when first reached
libero-object-2pick up the salad dressing and place it in the basket.
Franka Panda280 stepsends when first reached
libero-object-3pick up the bbq sauce and place it in the basket.
Franka Panda280 stepsends when first reached
libero-object-4pick up the ketchup and place it in the basket.
Franka Panda280 stepsends when first reached
libero-object-5pick up the tomato sauce and place it in the basket.
Franka Panda280 stepsends when first reached
libero-object-6pick up the butter and place it in the basket.
Franka Panda280 stepsends when first reached
libero-object-7pick up the milk and place it in the basket.
Franka Panda280 stepsends when first reached
libero-object-8pick up the chocolate pudding and place it in the basket.
Franka Panda280 stepsends when first reached
libero-object-9pick up the orange juice and place it in the basket.
Franka Panda280 stepsends when first reached
pick up the black bowl between the plate and the ramekin and place it on the plate.
Franka Panda280 stepsends when first reached
pick up the black bowl next to the ramekin and place it on the plate.
Franka Panda280 stepsends when first reached
pick up the black bowl from table center and place it on the plate.
Franka Panda280 stepsends when first reached
pick up the black bowl on the cookie box and place it on the plate.
Franka Panda280 stepsends when first reached
libero-spatial-4pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate.
Franka Panda280 stepsends when first reached
libero-spatial-5pick up the black bowl on the ramekin and place it on the plate.
Franka Panda280 stepsends when first reached
pick up the black bowl next to the cookie box and place it on the plate.
Franka Panda280 stepsends when first reached
libero-spatial-7pick up the black bowl on the stove and place it on the plate.
Franka Panda280 stepsends when first reached
pick up the black bowl next to the plate and place it on the plate.
Franka Panda280 stepsends when first reached
pick up the black bowl on the wooden cabinet and place it on the plate.
Franka Panda280 stepsends when first reached
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Each task is a folder in the task format, in tasks/libero/ of Robo Use 0.6.1. The task text is shown here; the reference solution and the verifier are on GitHub.