DILLO LIBERO Distillation Dataset

This dataset contains LIBERO policy rollouts labeled for DILLO (DIstiLLed Language-ActiOn World Model). Each example stores a chunked ACT policy rollout, boundary-frame images, robot state traces, action chunks, and VLM-generated descriptions/reasoning for distillation.

Dataset Summary

• Total episodes: 1700
• Total tasks: 130
• Total files: 33079
• Approximate size: 555.3 MiB
• Hugging Face repo: Sapienza/DILLO-LIBERO-dataset
• Layout: root/LIBERO_{SUITE}/{TASK}/{EPISODE}

Suites

• LIBERO_10: 200 episodes across 10 tasks
• LIBERO_90: 900 episodes across 90 tasks
• LIBERO_GOAL: 200 episodes across 10 tasks
• LIBERO_OBJECT: 200 episodes across 10 tasks
• LIBERO_SPATIAL: 200 episodes across 10 tasks

File Structure

Each example is stored as:

LIBERO_{SUITE}/{TASK}/{EPISODE}/
  response.txt
  reasoning.txt
  task_instruction.txt
  eef_pos.npy
  joint_pos.npy
  gripper_states.npy
  actions.npy
  success_mask.npy
  images/*.jpeg

Root metadata files:

• metadata.jsonl: one row per episode with relative paths, shapes, task text, and success label.
• metadata.csv: CSV version of the same manifest.
• dataset_summary.json: aggregate counts by suite/task and file extension.
• .gitattributes: LFS rules for binary arrays and images.

File Types

• .jpeg: 19479
• .npy: 8500
• .txt: 5100

Example Rows

• LIBERO_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it/000: turn on the stove and put the moka pot on it
• LIBERO_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it/001: turn on the stove and put the moka pot on it
• LIBERO_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it/002: turn on the stove and put the moka pot on it

Loading

import json
from pathlib import Path

root = Path('/path/to/DILLO-LIBERO-dataset')
rows = [json.loads(line) for line in (root / 'metadata.jsonl').open()]
first = rows[0]
print(first['episode_path'], first['task_instruction'])

For DILLO training, point TRAIN_DATA to a suite glob after downloading:

TRAIN_DATA='DILLO-LIBERO-dataset/LIBERO_GOAL/*/*'