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Simulation · LIBERO research team

LIBERO demonstration datasets

Human-controlled demonstrations in simulated manipulation tasks for studying transfer and lifelong learning.

Get datasetOfficial source

What is included?

Data type
Simulation
Tasks
Manipulation · Lifelong learning
Modalities
RGB · Robot state · Actions · Language
Embodiment
Simulated robot manipulation environments

Reported scale

130 tasks across four suites

Task count from the official repository. This is not a trajectory count or a measure of recording time.

Access & license

Official download scripts provide demonstration datasets for the four task suites.

Datasets: CC BY 4.0

Before you use this dataset

Demonstrations are collected in simulation. The repository distinguishes dataset licensing from its MIT code license.

Publisher sources checked 2026-10-04. Listing review checks the documentation, not downloaded data quality. Always check the exact release and terms.