diff --git a/docs/source/libero.mdx b/docs/source/libero.mdx index f7eed3d99..919ae9907 100644 --- a/docs/source/libero.mdx +++ b/docs/source/libero.mdx @@ -67,13 +67,13 @@ python src/lerobot/scripts/eval.py \ When using LIBERO through LeRobot, policies interact with the environment via **observations** and **actions**: - **Observations** - - `observation.state` – proprioceptive features (agent state). - - `observation.images.image` – main camera view (`agentview_image`). - - `observation.images.image2` – wrist camera view (`robot0_eye_in_hand_image`). - - ⚠️ **Note:** LeRobot enforces the `.images.*` prefix for any visual features. Make sure your dataset metadata keys match this convention when evaluating. - -- **Actions** - - Continuous control values in a `Box(-1, 1, shape=(7,))` space. + - `observation.state` – proprioceptive features (agent state). + - `observation.images.image` – main camera view (`agentview_image`). + - `observation.images.image2` – wrist camera view (`robot0_eye_in_hand_image`). -We also provide a notebook for quick testing: \ No newline at end of file + ⚠️ **Note:** LeRobot enforces the `.images.*` prefix for any visual features. Make sure your dataset metadata keys match this convention when evaluating. + +- **Actions** + - Continuous control values in a `Box(-1, 1, shape=(7,))` space. + +We also provide a notebook for quick testing: diff --git a/src/lerobot/envs/libero.py b/src/lerobot/envs/libero.py index 62a388d4c..b48be7715 100644 --- a/src/lerobot/envs/libero.py +++ b/src/lerobot/envs/libero.py @@ -148,9 +148,10 @@ def get_libero_dummy_action(): return [0, 0, 0, 0, 0, 0, -1] - OBS_STATE_DIM = 8 ACTION_DIM = 7 + + class LiberoEnv(gym.Env): metadata = {"render_modes": ["rgb_array"], "render_fps": 80}