Datasets:

zhouxueyang
/

LIBERO-Pro

Tasks:

Robotics

ArXiv:

Tags:

vision-language-action

vla

benchmark

robot-learning

License:

Dataset card Files Files and versions

xet

Community

Dataset Viewer

The dataset viewer is not available for this subset.

Cannot get the split names for the config 'default' of the dataset.

Exception:    SplitsNotFoundError
Message:      The split names could not be parsed from the dataset config.
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 290, in _generate_tables
                  pa_table = paj.read_json(
                      io.BytesIO(batch), read_options=paj.ReadOptions(block_size=block_size)
                  )
                File "pyarrow/_json.pyx", line 342, in pyarrow._json.read_json
                File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
                  return check_status(status)
                File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
                  raise convert_status(status)
              pyarrow.lib.ArrowInvalid: JSON parse error: Column(/results/[]/config/object_appearance/targets) changed from string to array in row 0
              
              During handling of the above exception, another exception occurred:
              
              Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
                  for split_generator in builder._split_generators(
                                         ~~~~~~~~~~~~~~~~~~~~~~~~~^
                      StreamingDownloadManager(base_path=builder.base_path, download_config=download_config)
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 101, in _split_generators
                  pa_table = next(iter(self._generate_tables(**splits[0].gen_kwargs, allow_full_read=False)))[1]
                             ~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 304, in _generate_tables
                  batch = json_encode_fields_in_json_lines(original_batch, json_field_paths)
                File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 111, in json_encode_fields_in_json_lines
                  examples = [ujson_loads(line) for line in original_batch.splitlines()]
                              ~~~~~~~~~~~^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 20, in ujson_loads
                  return pd.io.json.ujson_loads(*args, **kwargs)
                         ~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
              ValueError: Expected object or value
              
              The above exception was the direct cause of the following exception:
              
              Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 66, in compute_split_names_from_streaming_response
                  for split in get_dataset_split_names(
                               ~~~~~~~~~~~~~~~~~~~~~~~^
                      path=dataset,
                      ^^^^^^^^^^^^^
                      config_name=config,
                      ^^^^^^^^^^^^^^^^^^^
                      token=hf_token,
                      ^^^^^^^^^^^^^^^
                  )
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
                  info = get_dataset_config_info(
                      path,
                  ...<6 lines>...
                      **config_kwargs,
                  )
                File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
                  raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
              datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.

Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.

Dataset Card for LIBERO-PRO Perturbation Dataset

Project Page | Paper | Code

This dataset contains the bddl and init files of LIBERO-PRO configurations under object, relation, semantic, task, and environment perturbations. The dataset supports direct integration with the LIBERO-PRO framework to evaluate Vision-Language-Action (VLA) models beyond rote memorization.

Dataset Details

This dataset extends the original LIBERO benchmark by introducing systematic perturbations in five dimensions:

Object Perturbation: Modifies object appearance, color, and scale to test adaptability to visual shifts.
Position Perturbation: Relocates objects within feasible spatial bounds to evaluate the model’s adaptability to spatial position changes.
Semantic Perturbation: Paraphrases natural language commands to probe linguistic robustness.
Task Perturbation: Redefines task logic and target states to test procedural generalization.
Environment Perturbation: Replaces working environments to evaluate cross-environment robustness.

Each perturbation includes corresponding init files (initial environment configurations) and bddl files (behavioral descriptions in BDDL format).

Seven-Case Robustness Extension

The repository also includes a 40-task evaluation set covering seven BDDL-configured robustness cases. Each category contains 10 tasks from each of libero_spatial, libero_object, libero_goal, and libero_10.

Folder	Evaluation case
`01_visual_noise_glare`	Lighting and observation noise
`02_camera_view_angle`	Camera position and orientation
`03_runtime_object_move`	Runtime target-object movement
`04_object_texture`	Object appearance and texture
`05_view_occlusion`	View occlusion by scene objects
`06_object_shape`	Target-object shape scaling
`07_initial_pose_position_angle`	Initial position and yaw changes

The 280 BDDL files use this layout:

bddl_files/<category>/bddl/<suite>/<task>.bddl

Shared original initialization states are stored under:

init_files/<suite>/<task>.pruned_init

Where available, the corresponding .init files are included as well. The runtime object movement case uses a near-grasp trigger with a maximum end-effector-to-target distance of 0.09 m and a step-160 fallback.

The metadata/ directory contains a portable dataset index, task-specific perturbation manifest, and the latest static validation report. File checksums are listed in SHA256SUMS.txt.

The custom :perturbation_config fields require the LIBERO-Pro-aware parser and evaluation integration from the project codebase.

Uses

How to use:

Copy all .bddl files to:
```
LIBERO-PRO/libero/libero/bddl_files/
```
Copy all init files to:
```
LIBERO-PRO/libero/libero/init_files/
```
Follow the quick start instructions provided in the LIBERO-PRO README.

Dataset Structure

Each perturbation category contains:

init/: Environment initialization files defining object placement and world state.
bddl/: Task goal definitions in Behavior Domain Definition Language.

Citation

If you use this dataset, please cite both the original LIBERO benchmark and the LIBERO-PRO project:

BibTeX:

@article{zhou2025liberopro,
  title={LIBERO-PRO: Towards Robust and Fair Evaluation of Vision-Language-Action Models Beyond Memorization},
  author={Xueyang Zhou and Yangming Xu and Guiyao Tie and Yongchao Chen and Guowen Zhang and Duanfeng Chu and Pan Zhou and Lichao Sun},
  journal={arXiv preprint arXiv:2510.03827},
  year={2025}
}

@article{liu2023libero,
  title={LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning},
  author={Liu, Bo and Zhu, Yifeng and Gao, Chongkai and Feng, Yihao and Liu, Qiang and Zhu, Yuke and Stone, Peter},
  journal={arXiv preprint arXiv:2306.03310},
  year={2023}
}