Robot learning dataset
LIBERO Demonstrations
Human teleoperation demonstrations collected in simulation for LIBERO’s four manipulation task suites. Each task has 50 demonstration trajectories for a simulated Franka Panda arm, with visual observations, robot state and task language. The project explicitly licenses the datasets under CC BY 4.0.
Records last verified Oct 13, 2026 · Send a correction
Licence & use
CC BY 4.0
Commercial use allowed
Licence text ↗Terms apply to the checked release. Read publisher conditions for mixed collections, converted formats and gated access.
- Publisher
- LIBERO project
- Released
- Not dated
- Published size
- See size notes
- Modalities
- rgb, proprioception, language
- Formats
- HDF5
- Real / simulated
- Sim
- Includes humanoid recordings
- No
Size & release notes
Paper publishes 50 demonstration trajectories per task across 130 tasks; no computed aggregate is stored. Official mirror lists 100 GB, not TB. Its Apache-2.0 card tag conflicts with the project README’s explicit CC BY 4.0 dataset license; the explicit project license is used. MIT applies to code only.
Recorded embodiments
- Franka Panda (simulated)
Models disclosing this training dataset
More robot learning datasets
Evidence
Sources
- [s1] LIBERO repository README (license, dataset download) ↗
LIBERO project · official · accessed Oct 13, 2026
- [s2] LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning ↗
arXiv · paper · published Jun 5, 2023 · accessed Oct 13, 2026
- [s3] LIBERO paper, HTML version (describes the simulation benchmark) ↗
arXiv · paper · accessed Oct 13, 2026
- [s4] Official LIBERO HDF5 dataset mirror ↗
LIBERO authors · official · accessed Oct 13, 2026
- [s6] LIBERO environment: robot-state sensor observations ↗
LIBERO project · official · accessed Oct 13, 2026
- [s7] LIBERO simulation wrapper: default Panda robot and RGB cameras ↗
LIBERO project · official · accessed Oct 13, 2026
- [s8] Creative Commons Attribution 4.0 International ↗
Creative Commons · official · accessed Oct 13, 2026