LIBERO
Description
LIBERO is a simulated lifelong robot-learning benchmark with 130 language-conditioned manipulation tasks organised into four suites: LIBERO-Spatial, LIBERO-Object, LIBERO-Goal, and LIBERO-100. It provides human-teleoperated demonstrations for every task and uses procedurally generated household scenes with a Franka Panda arm to isolate transfer across spatial relationships, object identities, goals, and combinations of those factors.
License
Conflicting official declarations: the LIBERO repository specifies CC BY 4.0 for datasets, while the current author-hosted Hugging Face mirror declares Apache-2.0.*
* Double-check the publisher's current license and usage terms before using this dataset.