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add support for libero2lerobot (#42)

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* add libero2lerobot readme

* use datatrove for libero2lerobot

* update libero2lerobot readme

* update README.md

* Update libero2lerobot/README.md

Co-authored-by: gemini-code-assist[bot] <176961590+gemini-code-assist[bot]@users.noreply.github.com>

* Update libero2lerobot/README.md

Co-authored-by: gemini-code-assist[bot] <176961590+gemini-code-assist[bot]@users.noreply.github.com>

* fix

* set upload_large_folder to false

* use vectorized operations for faster transform

---------

Co-authored-by: gemini-code-assist[bot] <176961590+gemini-code-assist[bot]@users.noreply.github.com>
This commit is contained in:
Qizhi Chen
2025-06-27 11:36:25 +08:00
committed by GitHub
parent e7ee6a0052
commit 4dc21b9b70
8 changed files with 932 additions and 1 deletions
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libero2lerobot/libero_utils/config.py
+37
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LIBERO_FEATURES = {
"observation.images.image": {
"dtype": "video",
"shape": (256, 256, 3),
"names": ["height", "width", "rgb"],
},
"observation.images.wrist_image": {
"dtype": "video",
"shape": (256, 256, 3),
"names": ["height", "width", "rgb"],
},
"observation.state": {
"dtype": "float32",
"shape": (8,),
"names": {"motors": ["x", "y", "z", "roll", "pitch", "yaw", "gripper", "gripper"]},
},
"observation.states.ee_state": {
"dtype": "float32",
"shape": (6,),
"names": {"motors": ["x", "y", "z", "roll", "pitch", "yaw"]},
},
"observation.states.joint_state": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"]},
},
"observation.states.gripper_state": {
"dtype": "float32",
"shape": (2,),
"names": {"motors": ["gripper", "gripper"]},
},
"action": {
"dtype": "float32",
"shape": (7,),
"names": {"motors": ["x", "y", "z", "roll", "pitch", "yaw", "gripper"]},
},
}