| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - LIBERO |
| - robotics |
| - vision-language-action |
| - MiniCPM-RobotManip |
| configs: |
| - config_name: default |
| data_files: "*/data/*/*.parquet" |
| --- |
| |
| # MiniCPM-RobotManip LIBERO |
|
|
| This dataset contains the four LIBERO suites converted to LeRobot v3 format |
| for the MiniCPM-RobotManip LIBERO full-parameter fine-tuning example in |
| [starVLA](https://github.com/starVLA/starVLA). |
|
|
| ## Dataset summary |
|
|
| | Suite | Episodes | Frames | Videos | |
| |---|---:|---:|---:| |
| | LIBERO-10 | 358 | 95,740 | 716 | |
| | LIBERO-Goal | 405 | 48,131 | 810 | |
| | LIBERO-Object | 450 | 66,294 | 900 | |
| | LIBERO-Spatial | 423 | 51,707 | 846 | |
| | **Total** | **1,636** | **261,872** | **3,272** | |
|
|
| - Format: LeRobot v3 |
| - Frequency: 20 Hz |
| - Cameras: agent view and wrist view |
| - Video resolution: 256 × 256 |
| - Action target: `observation.xvla_abs_ee6d` |
| - Action target dimension: 10 |
|
|
| ## EE6D target |
|
|
| `observation.xvla_abs_ee6d` contains an absolute single-arm target: |
|
|
| - `[0:3]`: xyz position |
| - `[3:9]`: rotation6D |
| - `[9]`: gripper closed (`0` = open, `1` = closed) |
|
|
| The starVLA MiniCPM-RobotManip recipe uses the current row as state and offsets |
| 1–30 as the action chunk. It maps this 10-D vector to the left-arm `[7:17]` |
| slot of MiniCPM-RobotManip's unified 80-D state/action space; other channels are |
| masked out of the training loss. |
|
|
| Each suite includes `meta/modality.json` with the mapping expected by starVLA. |
|
|
| ### Legacy auxiliary column |
|
|
| The parquet files retain `actino.xvla_abs_ee6d`, a legacy auxiliary field from |
| the original conversion pipeline. It is intentionally preserved for provenance |
| and is not consumed by the published starVLA recipe. Use |
| `observation.xvla_abs_ee6d` for both state and offset action targets. |
|
|
| ## Download |
|
|
| ```bash |
| hf download openbmb/MiniCPM-RobotManip-LIBERO \ |
| --repo-type dataset \ |
| --local-dir playground/Datasets/LIBERO_EE6D |
| ``` |
|
|
| Expected top-level directories: |
|
|
| ```text |
| libero_10_agentview_rot180_wrist_raw_lerobot_v30_xvla_abs6d/ |
| libero_goal_agentview_rot180_wrist_raw_lerobot_v30_xvla_abs6d/ |
| libero_object_agentview_rot180_wrist_raw_lerobot_v30_xvla_abs6d/ |
| libero_spatial_agentview_rot180_wrist_raw_lerobot_v30_xvla_abs6d/ |
| ``` |
|
|
| ## Training with starVLA |
|
|
| ```bash |
| VLM_PATH=openbmb/MiniCPM-RobotManip \ |
| LIBERO_EE6D_ROOT=playground/Datasets/LIBERO_EE6D \ |
| bash examples/modelExtensions/MiniCPM-RobotManip/train_files/run_libero_train.sh |
| ``` |
|
|
| The corresponding public base checkpoint is |
| [`openbmb/MiniCPM-RobotManip`](https://huggingface.co/openbmb/MiniCPM-RobotManip). |
|
|
| ## Source and processing |
|
|
| The demonstrations originate from the |
| [LIBERO benchmark](https://lifelong-robot-learning.github.io/LIBERO/). The four |
| suites were filtered, converted to LeRobot v3 at 20 Hz, and augmented with |
| absolute EE6D targets aligned to each parquet row and video frame. Original |
| observation and action fields are retained. |
|
|
| This release contains simulation demonstrations only. It does not contain |
| personal or human-subject data. |
|
|
| ## License |
|
|
| Released under the Apache License 2.0. See `LICENSE`. |
|
|
| ## Citation |
|
|
| Please cite LIBERO and MiniCPM-Robot when using this dataset: |
|
|
| ```bibtex |
| @inproceedings{liu2023libero, |
| title={LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning}, |
| author={Liu, Bo and Zhu, Yifeng and Gao, Chongkai and Feng, Yihao and Liu, Qiang and Zhu, Yuke and Stone, Peter}, |
| booktitle={Advances in Neural Information Processing Systems}, |
| year={2023} |
| } |
| ``` |
|
|
| For the current MiniCPM-Robot citation, see the |
| [MiniCPM-Robot project](https://github.com/OpenBMB/MiniCPM-Robot). |
|
|
|
|
