Datasets:

katsukiono
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libero-plus-episode-categories

episode_index int64 0 14.3k	category stringclasses 5 values	suite stringclasses 4 values	source_file stringclasses 40 values	length int64 75 505	task stringclasses 40 values
0	env	libero_10	LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate_demo.hdf5	277	put the white mug on the left plate and put the yellow and white mug on the right plate
1	lighting	libero_goal	put_the_cream_cheese_in_the_bowl_demo.hdf5	112	put the cream cheese in the bowl
2	sensor_noise	libero_spatial	pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate_demo.hdf5	147	pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
3	language	libero_object	pick_up_the_alphabet_soup_and_place_it_in_the_basket_demo.hdf5	176	pick up the alphabet soup and place it in the basket
4	camera_pose	libero_spatial	pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate_demo.hdf5	106	pick up the black bowl next to the cookie box and place it on the plate
5	env	libero_goal	put_the_wine_bottle_on_top_of_the_cabinet_demo.hdf5	92	put the wine bottle on top of the cabinet
6	sensor_noise	libero_spatial	pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate_demo.hdf5	124	pick up the black bowl from table center and place it on the plate
7	sensor_noise	libero_goal	open_the_middle_drawer_of_the_cabinet_demo.hdf5	121	open the middle drawer of the cabinet
8	lighting	libero_object	pick_up_the_milk_and_place_it_in_the_basket_demo.hdf5	141	pick up the milk and place it in the basket
9	language	libero_goal	put_the_bowl_on_the_plate_demo.hdf5	92	put the bowl on the plate
10	sensor_noise	libero_spatial	pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate_demo.hdf5	148	pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
11	sensor_noise	libero_10	LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket_demo.hdf5	243	put both the cream cheese box and the butter in the basket
12	env	libero_spatial	pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate_demo.hdf5	137	pick up the black bowl next to the ramekin and place it on the plate
13	language	libero_object	pick_up_the_ketchup_and_place_it_in_the_basket_demo.hdf5	199	pick up the ketchup and place it in the basket
14	sensor_noise	libero_goal	put_the_wine_bottle_on_the_rack_demo.hdf5	184	put the wine bottle on the rack
15	sensor_noise	libero_goal	put_the_bowl_on_the_plate_demo.hdf5	93	put the bowl on the plate
16	env	libero_10	KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it_demo.hdf5	222	turn on the stove and put the moka pot on it
17	lighting	libero_spatial	pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate_demo.hdf5	127	pick up the black bowl next to the plate and place it on the plate
18	env	libero_object	pick_up_the_butter_and_place_it_in_the_basket_demo.hdf5	156	pick up the butter and place it in the basket
19	sensor_noise	libero_object	pick_up_the_chocolate_pudding_and_place_it_in_the_basket_demo.hdf5	157	pick up the chocolate pudding and place it in the basket
20	lighting	libero_spatial	pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate_demo.hdf5	170	pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
21	language	libero_10	LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket_demo.hdf5	234	put both the cream cheese box and the butter in the basket
22	sensor_noise	libero_10	LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket_demo.hdf5	236	put both the alphabet soup and the cream cheese box in the basket
23	language	libero_goal	put_the_wine_bottle_on_top_of_the_cabinet_demo.hdf5	92	put the wine bottle on top of the cabinet
24	camera_pose	libero_object	pick_up_the_chocolate_pudding_and_place_it_in_the_basket_demo.hdf5	160	pick up the chocolate pudding and place it in the basket
25	camera_pose	libero_goal	put_the_bowl_on_top_of_the_cabinet_demo.hdf5	105	put the bowl on top of the cabinet
26	language	libero_10	LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket_demo.hdf5	261	put both the alphabet soup and the cream cheese box in the basket
27	sensor_noise	libero_object	pick_up_the_ketchup_and_place_it_in_the_basket_demo.hdf5	147	pick up the ketchup and place it in the basket
28	sensor_noise	libero_object	pick_up_the_tomato_sauce_and_place_it_in_the_basket_demo.hdf5	148	pick up the tomato sauce and place it in the basket
29	sensor_noise	libero_object	pick_up_the_tomato_sauce_and_place_it_in_the_basket_demo.hdf5	139	pick up the tomato sauce and place it in the basket
30	env	libero_spatial	pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate_demo.hdf5	130	pick up the black bowl next to the cookie box and place it on the plate
31	lighting	libero_spatial	pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate_demo.hdf5	133	pick up the black bowl on the stove and place it on the plate
32	env	libero_object	pick_up_the_orange_juice_and_place_it_in_the_basket_demo.hdf5	121	pick up the orange juice and place it in the basket
33	sensor_noise	libero_10	KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it_demo.hdf5	308	turn on the stove and put the moka pot on it
34	language	libero_goal	put_the_bowl_on_the_plate_demo.hdf5	103	put the bowl on the plate
35	camera_pose	libero_10	LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate_demo.hdf5	214	put the white mug on the left plate and put the yellow and white mug on the right plate
36	sensor_noise	libero_spatial	pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate_demo.hdf5	129	pick up the black bowl on the ramekin and place it on the plate
37	language	libero_10	LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket_demo.hdf5	312	put both the alphabet soup and the cream cheese box in the basket
38	sensor_noise	libero_spatial	pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate_demo.hdf5	111	pick up the black bowl from table center and place it on the plate
39	env	libero_goal	open_the_top_drawer_and_put_the_bowl_inside_demo.hdf5	184	open the top drawer and put the bowl inside
40	camera_pose	libero_spatial	pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate_demo.hdf5	98	pick up the black bowl on the ramekin and place it on the plate
41	lighting	libero_10	LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate_demo.hdf5	246	put the white mug on the plate and put the chocolate pudding to the right of the plate
42	lighting	libero_goal	put_the_wine_bottle_on_the_rack_demo.hdf5	167	put the wine bottle on the rack
43	env	libero_object	pick_up_the_butter_and_place_it_in_the_basket_demo.hdf5	149	pick up the butter and place it in the basket
44	camera_pose	libero_10	KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it_demo.hdf5	301	turn on the stove and put the moka pot on it
45	sensor_noise	libero_goal	put_the_bowl_on_the_stove_demo.hdf5	98	put the bowl on the stove
46	env	libero_object	pick_up_the_milk_and_place_it_in_the_basket_demo.hdf5	131	pick up the milk and place it in the basket
47	env	libero_spatial	pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate_demo.hdf5	134	pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
48	lighting	libero_10	KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it_demo.hdf5	217	put the black bowl in the bottom drawer of the cabinet and close it
49	lighting	libero_10	KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it_demo.hdf5	449	put the yellow and white mug in the microwave and close it
50	language	libero_10	KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it_demo.hdf5	272	turn on the stove and put the moka pot on it
51	camera_pose	libero_spatial	pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate_demo.hdf5	111	pick up the black bowl from table center and place it on the plate
52	env	libero_10	LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate_demo.hdf5	246	put the white mug on the plate and put the chocolate pudding to the right of the plate
53	language	libero_goal	turn_on_the_stove_demo.hdf5	91	turn on the stove
54	camera_pose	libero_object	pick_up_the_ketchup_and_place_it_in_the_basket_demo.hdf5	157	pick up the ketchup and place it in the basket
55	lighting	libero_goal	open_the_middle_drawer_of_the_cabinet_demo.hdf5	136	open the middle drawer of the cabinet
56	env	libero_goal	put_the_cream_cheese_in_the_bowl_demo.hdf5	96	put the cream cheese in the bowl
57	sensor_noise	libero_10	KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it_demo.hdf5	323	turn on the stove and put the moka pot on it
58	env	libero_object	pick_up_the_milk_and_place_it_in_the_basket_demo.hdf5	135	pick up the milk and place it in the basket
59	camera_pose	libero_object	pick_up_the_cream_cheese_and_place_it_in_the_basket_demo.hdf5	187	pick up the cream cheese and place it in the basket
60	sensor_noise	libero_goal	put_the_wine_bottle_on_top_of_the_cabinet_demo.hdf5	128	put the wine bottle on top of the cabinet
61	language	libero_object	pick_up_the_milk_and_place_it_in_the_basket_demo.hdf5	161	pick up the milk and place it in the basket
62	lighting	libero_spatial	pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate_demo.hdf5	122	pick up the black bowl next to the cookie box and place it on the plate
63	sensor_noise	libero_object	pick_up_the_cream_cheese_and_place_it_in_the_basket_demo.hdf5	147	pick up the cream cheese and place it in the basket
64	env	libero_goal	put_the_bowl_on_the_stove_demo.hdf5	95	put the bowl on the stove
65	language	libero_spatial	pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate_demo.hdf5	123	pick up the black bowl next to the plate and place it on the plate
66	sensor_noise	libero_object	pick_up_the_milk_and_place_it_in_the_basket_demo.hdf5	135	pick up the milk and place it in the basket
67	lighting	libero_goal	open_the_top_drawer_and_put_the_bowl_inside_demo.hdf5	177	open the top drawer and put the bowl inside
68	env	libero_spatial	pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate_demo.hdf5	120	pick up the black bowl on the ramekin and place it on the plate
69	sensor_noise	libero_object	pick_up_the_bbq_sauce_and_place_it_in_the_basket_demo.hdf5	221	pick up the bbq sauce and place it in the basket
70	camera_pose	libero_goal	put_the_bowl_on_the_plate_demo.hdf5	90	put the bowl on the plate
71	env	libero_goal	turn_on_the_stove_demo.hdf5	92	turn on the stove
72	language	libero_spatial	pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate_demo.hdf5	92	pick up the black bowl between the plate and the ramekin and place it on the plate
73	sensor_noise	libero_goal	open_the_top_drawer_and_put_the_bowl_inside_demo.hdf5	183	open the top drawer and put the bowl inside
74	sensor_noise	libero_object	pick_up_the_tomato_sauce_and_place_it_in_the_basket_demo.hdf5	132	pick up the tomato sauce and place it in the basket
75	camera_pose	libero_10	LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket_demo.hdf5	241	put both the cream cheese box and the butter in the basket
76	lighting	libero_spatial	pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate_demo.hdf5	149	pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate
77	lighting	libero_goal	put_the_bowl_on_the_stove_demo.hdf5	90	put the bowl on the stove
78	lighting	libero_spatial	pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate_demo.hdf5	112	pick up the black bowl on the ramekin and place it on the plate
79	env	libero_goal	open_the_middle_drawer_of_the_cabinet_demo.hdf5	141	open the middle drawer of the cabinet
80	env	libero_object	pick_up_the_bbq_sauce_and_place_it_in_the_basket_demo.hdf5	221	pick up the bbq sauce and place it in the basket
81	camera_pose	libero_10	KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it_demo.hdf5	261	turn on the stove and put the moka pot on it
82	camera_pose	libero_10	KITCHEN_SCENE8_put_both_moka_pots_on_the_stove_demo.hdf5	388	put both moka pots on the stove
83	lighting	libero_spatial	pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate_demo.hdf5	125	pick up the black bowl from table center and place it on the plate
84	env	libero_object	pick_up_the_orange_juice_and_place_it_in_the_basket_demo.hdf5	144	pick up the orange juice and place it in the basket
85	lighting	libero_spatial	pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate_demo.hdf5	142	pick up the black bowl on the ramekin and place it on the plate
86	language	libero_goal	turn_on_the_stove_demo.hdf5	119	turn on the stove
87	lighting	libero_10	LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket_demo.hdf5	285	put both the alphabet soup and the cream cheese box in the basket
88	env	libero_goal	turn_on_the_stove_demo.hdf5	96	turn on the stove
89	sensor_noise	libero_goal	put_the_bowl_on_the_plate_demo.hdf5	87	put the bowl on the plate
90	env	libero_object	pick_up_the_bbq_sauce_and_place_it_in_the_basket_demo.hdf5	132	pick up the bbq sauce and place it in the basket
91	sensor_noise	libero_spatial	pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate_demo.hdf5	109	pick up the black bowl from table center and place it on the plate
92	lighting	libero_10	LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket_demo.hdf5	258	put both the alphabet soup and the cream cheese box in the basket
93	lighting	libero_spatial	pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate_demo.hdf5	129	pick up the black bowl on the stove and place it on the plate
94	lighting	libero_spatial	pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate_demo.hdf5	101	pick up the black bowl on the cookie box and place it on the plate
95	lighting	libero_object	pick_up_the_milk_and_place_it_in_the_basket_demo.hdf5	141	pick up the milk and place it in the basket
96	env	libero_spatial	pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate_demo.hdf5	110	pick up the black bowl next to the plate and place it on the plate
97	env	libero_object	pick_up_the_tomato_sauce_and_place_it_in_the_basket_demo.hdf5	137	pick up the tomato sauce and place it in the basket
98	sensor_noise	libero_object	pick_up_the_tomato_sauce_and_place_it_in_the_basket_demo.hdf5	165	pick up the tomato sauce and place it in the basket
99	language	libero_spatial	pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate_demo.hdf5	113	pick up the black bowl next to the ramekin and place it on the plate

End of preview. Expand in Data Studio

LIBERO-Plus episode → perturbation-category labels

Which perturbation category each of the 14,347 LIBERO-Plus episodes belongs to. LIBERO-Plus perturbs a base LIBERO task along several axes. The release these labels came from contains five of them --- the project describes more, so treat this as the taxonomy of this 14,347-episode release, not of LIBERO-Plus as a whole. The lerobot/libero_plus conversion does not carry that label, so you cannot ask "how does my policy do under camera-pose perturbation specifically?" without recovering it. This table recovers it.

This is metadata only. No observations, no actions, no video --- 14,347 rows and six columns. It does copy two strings from upstream: the natural-language task description and the base HDF5 basename.

column	meaning
`episode_index`	LeRobot episode index, 0–14346, contiguous, no duplicates
`category`	one of `env`, `lighting`, `language`, `camera_pose`, `sensor_noise`, normalized from the upstream path token. We do not claim to know exactly what `env` covers; it is the upstream token, not our interpretation
`suite`	`libero_spatial`, `libero_object`, `libero_goal`, `libero_10`
`source_file`	the base LIBERO demo HDF5 this episode perturbs
`length`	episode length in frames
`task`	natural-language task string

Distribution: env 2876, lighting 2876, language 2872, camera_pose 2871, sensor_noise 2852. By suite: libero_object 4085, libero_spatial 3750, libero_goal 3721, libero_10 2791. 40 distinct base tasks, 10 per suite, and the task and source_file columns are in one-to-one correspondence in both directions.

How it was recovered

recover_episode_categories.py, included here, derives the category from episode_metadata/file_path in the RLDS release (Sylvest/libero_plus_rlds) and joins it onto the episode indices of lerobot/libero_plus. It validates by default, comparing each row's (task, length) against the LeRobot metadata and refusing to write on a mismatch.

Two honest caveats. First, we are telling you the script performs that check, not that we personally retained the log of a successful run --- so run it rather than take the table on trust. Second, it reads mutable upstream repositories over HTTP, so a future upstream revision can change what it produces; it is an independent recovery utility, not an official LIBERO-Plus or LeRobot tool.

What we checked, and what those checks cannot show

Internal consistency checks on the released table:

suite	camera_pose	env	language	lighting	sensor_noise
libero_10	555	560	556	560	560
libero_goal	749	749	749	749	725
libero_object	817	817	817	817	817
libero_spatial	750	750	750	750	750

All 40 base tasks contain all five values. The category changes 11,493 times along episode_index, so the column is interleaved rather than block-sorted. Length is near-identical across categories (means 155.7-156.2, median 138 for all five). The small deficits -- libero_10 camera_pose 555 against 560, libero_goal sensor_noise 725 against 749 -- are concentrated in specific (suite, category) cells, which is consistent with an upstream generation gap, although these table-only checks cannot distinguish that from every possible extraction or join error.

What this does not show. These checks reject several positional and wrong-component extraction errors. They do not independently verify the semantics of the labels, and they would not detect a global permutation of the category names. So that you can audit that yourself, the category is taken from the <category> component of the upstream path .../pro_data/<category>/<suite>/<task>_demo.hdf5 and renamed by exactly this map:

upstream token	our label
`camera_view`	`camera_pose`
`light`	`lighting`
`noise`	`sensor_noise`
`language`	`language`
`env`	`env`

The table does not retain the raw upstream token, so the mapping above is the thing to check if you doubt a label. We have not run the recovery script against upstream as part of preparing this card.

Why you might want it

It was produced for an evaluation audit of LIBERO-Plus, which found that the benchmark selects the initial state from the environment index rather than from the reset seed, and that a terminated episode triggers at least two resets — so the initial-state allocation depends on the policy's own outcomes and paired comparisons break silently. ("At least" corrected from "two" on 2026-07-29: a done slot keeps being stepped and can terminate again. The consequence for paired comparisons is unchanged.) Reported upstream as huggingface/lerobot#4152, with a runnable reproduction.

Study: https://doi.org/10.5281/zenodo.21596932
Code and data: https://github.com/Ono-Katsuki/SmolVLA_RL
Checkpoints: https://huggingface.co/katsukiono/smolvla-libero-spatial-4arm

Attribution and licence

The labels are derived from LIBERO-Plus. The Sylvest/libero_plus_rlds Hugging Face release --- the one these labels come from --- declares MIT in its dataset metadata, and the MIT tag was added by a Hugging Face staff pull request that the author merged. We are relying on that declaration. Note that the GitHub repository sylvestf/LIBERO-plus carries no licence file, so the MIT declaration comes from that one dataset's metadata rather than from the canonical source repository. This is our reading, not legal advice, and the labels may in any case be uncopyrightable facts --- we chose not to rely on that. Cite LIBERO-Plus if you use them:

LIBERO-Plus. arXiv:2510.13626. https://huggingface.co/datasets/Sylvest/libero_plus_rlds

On the MIT notice. MIT asks that its copyright and permission notice travel with copies. We cannot reproduce the upstream notice here because the upstream release does not appear to contain one --- the MIT terms are asserted through a metadata tag rather than a LICENSE file, and no copyright holder is named. We are not going to invent a copyright line on the authors' behalf, so instead: the terms we are relying on are the MIT declaration on https://huggingface.co/datasets/Sylvest/libero_plus_rlds, attribution is to the LIBERO-Plus authors as cited above, and this table adds no licence terms of its own beyond the MIT declared in this card's metadata.

If you are an upstream rights-holder and this reading is wrong, open a discussion here and the table will be taken down.