LIBERO-Plus
Description
LIBERO-Plus expands LIBERO into a robustness benchmark with 10,030 test-only simulated task instances spanning seven perturbation factors and 21 subdimensions: object layout, camera viewpoint, robot initial state, language, lighting, background texture, and sensor noise. Tasks are generated automatically and stratified into five difficulty levels. The associated mixed training release contains more than 20,000 successful trajectories; its official LeRobot package exposes 14,347 episodes, 2,238,036 frames at 20 Hz, and 40 task labels with front and wrist RGB, robot state, and actions.
License
Official Hugging Face asset and training-data cards declare MIT; the source repository has no separate license file, and upstream LIBERO terms may also apply.*
* Double-check the publisher's current license and usage terms before using this dataset.