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@@ -0,0 +1,202 @@
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README.md

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+---
+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).
+

dataset_summary.json

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+{
+  "format": "LeRobot v3",
+  "fps": 20,
+  "target_column": "observation.xvla_abs_ee6d",
+  "target_layout": "xyz(3) + rotation6d(6) + gripper_closed(1)",
+  "suites": [
+    {
+      "suite": "libero_10",
+      "directory": "libero_10_agentview_rot180_wrist_raw_lerobot_v30_xvla_abs6d",
+      "episodes": 358,
+      "frames": 95740,
+      "videos": 716
+    },
+    {
+      "suite": "libero_goal",
+      "directory": "libero_goal_agentview_rot180_wrist_raw_lerobot_v30_xvla_abs6d",
+      "episodes": 405,
+      "frames": 48131,
+      "videos": 810
+    },
+    {
+      "suite": "libero_object",
+      "directory": "libero_object_agentview_rot180_wrist_raw_lerobot_v30_xvla_abs6d",
+      "episodes": 450,
+      "frames": 66294,
+      "videos": 900
+    },
+    {
+      "suite": "libero_spatial",
+      "directory": "libero_spatial_agentview_rot180_wrist_raw_lerobot_v30_xvla_abs6d",
+      "episodes": 423,
+      "frames": 51707,
+      "videos": 846
+    }
+  ],
+  "totals": {
+    "episodes": 1636,
+    "frames": 261872,
+    "videos": 3272
+  }
+}

libero_10_agentview_rot180_wrist_raw_lerobot_v30_xvla_abs6d/meta/info.json

@@ -0,0 +1,305 @@
+{
+  "codebase_version": "v3.0",
+  "robot_type": "franka",
+  "total_episodes": 358,
+  "total_frames": 95740,
+  "total_tasks": 10,
+  "total_videos": 716,
+  "chunks_size": 1000,
+  "fps": 20,
+  "splits": {
+    "train": "0:358"
+  },
+  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+  "features": {
+    "observation.images.image": {
+      "dtype": "video",
+      "shape": [
+        256,
+        256,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "rgb"
+      ],
+      "info": {
+        "video.height": 256,
+        "video.width": 256,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 20,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.images.wrist_image": {
+      "dtype": "video",
+      "shape": [
+        256,
+        256,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "rgb"
+      ],
+      "info": {
+        "video.height": 256,
+        "video.width": 256,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 20,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        8
+      ],
+      "names": {
+        "motors": [
+          "x",
+          "y",
+          "z",
+          "axis_angle1",
+          "axis_angle2",
+          "axis_angle3",
+          "gripper",
+          "gripper"
+        ]
+      },
+      "fps": 20
+    },
+    "observation.states.ee_state": {
+      "dtype": "float32",
+      "shape": [
+        6
+      ],
+      "names": {
+        "motors": [
+          "x",
+          "y",
+          "z",
+          "axis_angle1",
+          "axis_angle2",
+          "axis_angle3"
+        ]
+      },
+      "fps": 20
+    },
+    "observation.states.joint_state": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ],
+      "names": {
+        "motors": [
+          "joint_0",
+          "joint_1",
+          "joint_2",
+          "joint_3",
+          "joint_4",
+          "joint_5",
+          "joint_6"
+        ]
+      },
+      "fps": 20
+    },
+    "observation.states.gripper_state": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "names": {
+        "motors": [
+          "gripper",
+          "gripper"
+        ]
+      },
+      "fps": 20
+    },
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ],
+      "names": {
+        "motors": [
+          "x",
+          "y",
+          "z",
+          "axis_angle1",
+          "axis_angle2",
+          "axis_angle3",
+          "gripper"
+        ]
+      },
+      "fps": 20
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 20
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 20
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 20
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 20
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 20
+    },
+    "observation.xvla_abs_ee6d": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "motors": [
+          "x",
+          "y",
+          "z",
+          "rot6d_0",
+          "rot6d_1",
+          "rot6d_2",
+          "rot6d_3",
+          "rot6d_4",
+          "rot6d_5",
+          "gripper_closed"
+        ]
+      },
+      "fps": 20,
+      "semantics": {
+        "column": "observation.xvla_abs_ee6d",
+        "source_key": "abs_action_6d",
+        "source_location": "filtered LIBERO sidecar episode_*.npz files",
+        "shape": [
+          10
+        ],
+        "layout": "single_arm_left_ee6d",
+        "dimension_names": [
+          "x",
+          "y",
+          "z",
+          "rot6d_0",
+          "rot6d_1",
+          "rot6d_2",
+          "rot6d_3",
+          "rot6d_4",
+          "rot6d_5",
+          "gripper_closed"
+        ],
+        "dimension_groups": {
+          "xyz": [
+            0,
+            1,
+            2
+          ],
+          "rot6d": [
+            3,
+            4,
+            5,
+            6,
+            7,
+            8
+          ],
+          "gripper_closed": [
+            9
+          ]
+        },
+        "rotation": {
+          "representation": "rotation_6d",
+          "convention": "same ordering as sidecar abs_action_6d and the source XVLA LIBERO handler"
+        },
+        "gripper": {
+          "name": "gripper_closed",
+          "open_value": 0.0,
+          "closed_value": 1.0,
+          "valid_range": [
+            0.0,
+            1.0
+          ]
+        },
+        "alignment": {
+          "row_t": "observation.xvla_abs_ee6d[t] is aligned with parquet row t and image frame t",
+          "vision_offsets": [
+            0
+          ]
+        },
+        "xvla_ee6d_20d_padding": {
+          "dataset_column": "10D single-arm left trajectory; do not reinterpret as raw relative action",
+          "left_arm_columns": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9
+          ],
+          "right_arm_columns": "zero-padded by the XVLA dataloader/model pipeline",
+          "target_layout": "L_xyz(0:3), L_rot6d(3:9), L_grip(9), R_xyz(10:13), R_rot6d(13:19), R_grip(19)"
+        }
+      }
+    },
+    "actino.xvla_abs_ee6d": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": {
+        "motors": [
+          "x",
+          "y",
+          "z",
+          "rot6d_0",
+          "rot6d_1",
+          "rot6d_2",
+          "rot6d_3",
+          "rot6d_4",
+          "rot6d_5",
+          "gripper_closed"
+        ]
+      },
+      "fps": 20
+    }
+  }
+}

libero_10_agentview_rot180_wrist_raw_lerobot_v30_xvla_abs6d/meta/modality.json

@@ -0,0 +1,19 @@
+{
+    "state": {
+        "eef_position": {"start": 0, "end": 3, "original_key": "observation.xvla_abs_ee6d"},
+        "eef_rotation": {"start": 3, "end": 9, "original_key": "observation.xvla_abs_ee6d"},
+        "gripper":      {"start": 9, "end": 10, "original_key": "observation.xvla_abs_ee6d"}
+    },
+    "action": {
+        "eef_position": {"start": 0, "end": 3, "original_key": "observation.xvla_abs_ee6d"},
+        "eef_rotation": {"start": 3, "end": 9, "original_key": "observation.xvla_abs_ee6d"},
+        "gripper":      {"start": 9, "end": 10, "original_key": "observation.xvla_abs_ee6d"}
+    },
+    "video": {
+        "primary_image": {"original_key": "observation.images.image"},
+        "wrist_image":    {"original_key": "observation.images.wrist_image"}
+    },
+    "annotation": {
+        "human.action.task_description": {"original_key": "task_index"}
+    }
+}

libero_10_agentview_rot180_wrist_raw_lerobot_v30_xvla_abs6d/meta/stats.json

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libero_spatial_agentview_rot180_wrist_raw_lerobot_v30_xvla_abs6d/meta/info.json

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