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docs/source/libero.mdx
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@@ -67,14 +67,14 @@ python src/lerobot/scripts/eval.py \
When using LIBERO through LeRobot, policies interact with the environment via **observations** and **actions**: When using LIBERO through LeRobot, policies interact with the environment via **observations** and **actions**:
- **Observations** - **Observations**
- `observation.state` – proprioceptive features (agent state). - `observation.state` – proprioceptive features (agent state).
- `observation.images.image` – main camera view (`agentview_image`). - `observation.images.image` – main camera view (`agentview_image`).
- `observation.images.image2` – wrist camera view (`robot0_eye_in_hand_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. ⚠️ **Note:** LeRobot enforces the `.images.*` prefix for any visual features. Make sure your dataset metadata keys match this convention when evaluating.
- **Actions** - **Actions**
- Continuous control values in a `Box(-1, 1, shape=(7,))` space. - Continuous control values in a `Box(-1, 1, shape=(7,))` space.
We also provide a notebook for quick testing: We also provide a notebook for quick testing:
Training with LIBERO Training with LIBERO
@@ -92,16 +92,16 @@ observation.images.image2 → wrist camera (robot0_eye_in_hand_image)
Example training command Example training command
python src/lerobot/scripts/train.py \ python src/lerobot/scripts/train.py \
--policy.type=smolvla \ --policy.type=smolvla \
--dataset.repo_id=jadechoghari/smol-libero3 \ --dataset.repo_id=jadechoghari/smol-libero3 \
--env.type=libero \ --env.type=libero \
--env.task=libero_10,libero_spatial \ --env.task=libero_10,libero_spatial \
--output_dir=./outputs/ \ --output_dir=./outputs/ \
--steps=100000 \ --steps=100000 \
--batch_size=4 \ --batch_size=4 \
--env.multitask_eval=True \ --env.multitask_eval=True \
--eval.batch_size=1 \ --eval.batch_size=1 \
--eval.n_episodes=1 --eval.n_episodes=1
Note on rendering Note on rendering