zxy-mllab/libero-pro

LIBERO-PRO's position-swap and new-goal tasks for LIBERO-Goal, ‑Object, ‑Spatial and ‑Long, on a Franka Panda: 73 of the 80 pairs NVIDIA's ASPIRE reports on.

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

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-pro
Licence: Task text and reference solutions Apache-2.0 (Robo Use); adapted from LIBERO-PRO by Zxy-MLlab, MIT (code, BDDL and init files)

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Put both the alphabet soup and the tomato sauce in the basket pro, swaplibero-pro-10-swap-0

Put both the cream cheese box and the butter in the basket pro, swaplibero-pro-10-swap-1

Turn on the stove and put the moka pot on it pro, swaplibero-pro-10-swap-2

Put the white mug on the left plate and put the yellow and white mug on the right plate pro, swaplibero-pro-10-swap-4

Pick up the book and place it in the back compartment of the caddy pro, swaplibero-pro-10-swap-5

Put both the alphabet soup and the cream cheese box in the basket pro, swaplibero-pro-10-swap-7

Put both the cream cheese and the tomato sauce in the basketlibero-pro-10-task-0

Put both the alphabet soup and the butter in the basketlibero-pro-10-task-1

Turn on the stove and put the pan on itlibero-pro-10-task-2

Put the yellow and white mug on the left plate and put the white mug on the right platelibero-pro-10-task-4

Pick up the cup and place it in the back compartment of the caddylibero-pro-10-task-5

Put the red mug on the plate and put the chocolate pudding to the right of the platelibero-pro-10-task-6

Put both the ketchup and the cream cheese box in the basketlibero-pro-10-task-7

Put the left moka pot on the stovelibero-pro-10-task-8

Open the middle layer of the drawerlibero-pro-goal-swap-0

Put the bowl on the stove pro, swaplibero-pro-goal-swap-1

Put the wine bottle on the top of the drawerlibero-pro-goal-swap-2

Open the top layer of the drawer and put the bowl insidelibero-pro-goal-swap-3

Put the bowl on the top of the drawerlibero-pro-goal-swap-4

Push the plate to the front of the stove pro, swaplibero-pro-goal-swap-5

Put the cream cheese on the bowllibero-pro-goal-swap-6

Turn on the stove pro, goal, swaplibero-pro-goal-swap-7

Put the bowl on the plate pro, swaplibero-pro-goal-swap-8

Put the wine bottle on the rack pro, swaplibero-pro-goal-swap-9

Put the plate on the stovelibero-pro-goal-task-1

Put the wine bottle in the bowllibero-pro-goal-task-2

Open the top layer of the drawer and put the cream cheese insidelibero-pro-goal-task-3

Put the plate on the top of the drawerlibero-pro-goal-task-4

Push the cream cheese to the front of the stovelibero-pro-goal-task-5

Put the wine bottle in the bowllibero-pro-goal-task-6

Turn off the stove pro, goal, tasklibero-pro-goal-task-7

Put the wine bottle on the platelibero-pro-goal-task-8

Put the cream cheese on the racklibero-pro-goal-task-9

Pick the alphabet soup and place it in the basket swaplibero-pro-object-swap-0

Pick the cream cheese and place it in the basket swaplibero-pro-object-swap-1

Pick the salad dressing and place it in the basket swaplibero-pro-object-swap-2

Pick the bbq sauce and place it in the basket swaplibero-pro-object-swap-3

Pick the ketchup and place it in the basket swaplibero-pro-object-swap-4

Pick the tomato sauce and place it in the basket swaplibero-pro-object-swap-5

Pick the butter and place it in the basket swaplibero-pro-object-swap-6

Pick the milk and place it in the basket swaplibero-pro-object-swap-7

Pick the chocolate pudding and place it in the basket swaplibero-pro-object-swap-8

Pick the orange juice and place it in the basket swaplibero-pro-object-swap-9

Pick the cream cheese and place it in the basket tasklibero-pro-object-task-0

Pick the alphabet soup and place it in the basket tasklibero-pro-object-task-1

Pick the tomato sauce and place it in the basket tasklibero-pro-object-task-2

Pick the ketchup and place it in the basket tasklibero-pro-object-task-3

Pick the milk and place it in the basket tasklibero-pro-object-task-4

Pick the bbq sauce and place it in the basket tasklibero-pro-object-task-5

Pick the orange juice and place it in the basket tasklibero-pro-object-task-6

Pick the butter and place it in the basket tasklibero-pro-object-task-7

Pick the salad dressing and place it in the basket tasklibero-pro-object-task-8

Pick the chocolate pudding and place it in the basket tasklibero-pro-object-task-9

Pick the akita black bowl between the plate and the ramekin and place it on the platelibero-pro-spatial-swap-0

Pick the akita black bowl next to the ramekin and place it on the plate swaplibero-pro-spatial-swap-1

Pick the akita black bowl from table center and place it on the platelibero-pro-spatial-swap-2

Pick the akita black bowl on the cookies box and place it on the platelibero-pro-spatial-swap-3

Pick the akita black bowl in the top layer of the wooden cabinet and place it on the platelibero-pro-spatial-swap-4

Pick the akita black bowl on the ramekin and place it on the platelibero-pro-spatial-swap-5

Pick the akita black bowl next to the cookies box and place it on the platelibero-pro-spatial-swap-6

Pick the akita black bowl on the stove and place it on the plate swaplibero-pro-spatial-swap-7

Pick the akita black bowl next to the plate and place it on the plate swaplibero-pro-spatial-swap-8

Pick the akita black bowl on the wooden cabinet and place it on the platelibero-pro-spatial-swap-9

Pick the akita black bowl not between the plate and the ramekin and place it on the platelibero-pro-spatial-task-0

Pick the akita black bowl next to the cookie box and place it on the platelibero-pro-spatial-task-1

Pick the akita black bowl next to the plate and place it on the plate tasklibero-pro-spatial-task-2

Pick the akita black bowl on the top of the cabinet and place it on the platelibero-pro-spatial-task-3

Pick the akita black bowl on the top of the wooden cabinet and place it on the platelibero-pro-spatial-task-4

Pick the akita black bowl on the cookie box and place it on the platelibero-pro-spatial-task-5

Pick the akita black bowl on the stove and place it on the plate tasklibero-pro-spatial-task-6

Pick the akita black bowl on the top of the cabinet and place it on the platelibero-pro-spatial-task-7

Pick the akita black bowl next to the ramekin and place it on the plate tasklibero-pro-spatial-task-8

Pick the akita black bowl on the stove and place it on the plate tasklibero-pro-spatial-task-9

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