yoonkyojung/TraceGenLibero

TraceGen – LIBERO (Derived Subset)

Overview

This folder contains a derived subset generated from the LIBERO dataset using the TraceForge pipeline as part of the TraceGen project.

• TraceGen Project Website: https://tracegen.github.io/

Evaluation Protocol

This dataset defines the official evaluation protocol for the TraceGen benchmark. Models are evaluated on five environments with the following metrics:

• Mean Squared Error (MSE)
• Mean Absolute Error (MAE)
• Endpoint MSE

The official datasets and models are hosted at: 👉 TraceGen Collection

The official leaderboard is hosted at: 👉 TraceGen Leaderboard

Source Dataset

• Dataset: LIBERO
• Original Authors: LIBERO Authors
• Original License: Apache License 2.0
• Official Website: https://libero-project.github.io/

What Is Released Here

For each episode <video_name>, this release includes:

• images/: RGB frames extracted from the original LIBERO dataset (*.png)
• samples/: per-frame TraceForge / TraceGen representations (*.npz)
• <video_name>.npz: aggregated episode-level metadata and outputs

Modifications

Processing steps include:

• temporal alignment
• coordinate normalization
• trace abstraction

License and Attribution

This derived dataset is released under the Apache License 2.0.

Users must:

• retain copyright and license notices
• indicate any modifications made to the original data

Disclaimer

This release does not replace the original LIBERO dataset. All responsibility for derived data lies with the TraceGen authors.