README.md

LIBERO Datasets

To download the LIBERO datasets that we used in our fine-tuning experiments, run the command below. This will download the Spatial, Object, Goal, and Long datasets in RLDS format, i.e., libero_spatial_no_noops, libero_object_no_noops, libero_goal_no_noops, libero_10_no_noops. ("_no_noops" stands for no no-op actions, i.e., training samples with near-zero actions are filtered out). These datasets require ~10GB of memory in total. If needed, see details on how to download the original non-RLDS datasets here.

git clone git@hf.co:datasets/openvla/modified_libero_rlds

The downloaded dataset can be placed in the /data folder. The overall directory structure is as follows:

·
├── data
·   ├── modified_libero_rlds
    │   ├── libero_10_no_noops
    │   │   └── 1.0.0  (It contains some json files and 32 tfrecord files)
    │   ├── libero_goal_no_noops
    │   │   └── 1.0.0  (It contains some json files and 16 tfrecord files)
    │   ├── libero_object_no_noops
    │   │   └── 1.0.0  (It contains some json files and 32 tfrecord files)
    │   ├── libero_spatial_no_noops
    │   │   └── 1.0.0  (It contains some json files and 16 tfrecord files)
    └── other benchmarks ...