Third-person view · Wrist view
Adapt 001
LIBERO-Analogy
Explore all 60 tasks
Train on LIBERO. Evaluate task generalization on LIBERO-Analogy. Each suite contains 20 unseen tasks, shown here through successful robot executions.
Showing 60 tasks
20 evaluation tasks
Adapt
Adapt learned interactions to changes in scene layout, object arrangement, and task goals.
Third-person view · Wrist view
Adapt 002
Put the white mug on the right plate
Third-person view · Wrist view
Adapt 003
Put the black bowl in the middle drawer of the white cabinet
Third-person view · Wrist view
Adapt 004
Close the top drawer of the white cabinet
Third-person view · Wrist view
Adapt 005
Close the middle drawer of the white cabinet
Third-person view · Wrist view
Adapt 006
Pick up the wine bottle at the table center and place it on the plate
Third-person view · Wrist view
Adapt 007
Put the plate on the top of the wooden cabinet
Third-person view · Wrist view
Adapt 008
Put the cream cheese in the top drawer of the wooden cabinet
Third-person view · Wrist view
Adapt 009
Put the yellow and white mug in the right compartment of the caddy
Third-person view · Wrist view
Adapt 010
Pick the alphabet soup and place it in the basket
Third-person view · Wrist view
Adapt 011
Pick the orange juice and place it in the basket
Third-person view · Wrist view
Adapt 012
Pick the tomato sauce and place it in the basket
Third-person view · Wrist view
Adapt 013
Pick the milk and place it in the basket
Third-person view · Wrist view
Adapt 014
Put the popcorn on top of the short fridge
Third-person view · Wrist view
Adapt 015
Put the yellow book on top of the two-layer wooden shelf
Third-person view · Wrist view
Adapt 016
Pick up the black bowl at the table center and place it on the dining-set mat
Third-person view · Wrist view
Adapt 017
Pick the alphabet soup and place it in the left compartment of the bowl drainer
Third-person view · Wrist view
Adapt 018
Open the top drawer of the wooden cabinet
Third-person view · Wrist view
Adapt 019
Pick up the black bowl and place it in the wooden tray
Third-person view · Wrist view
Adapt 020
Put the ketchup on the rack
20 evaluation tasks
Compose
Combine skills learned from LIBERO into new long-horizon tasks.
Third-person view · Wrist view
Compose 001
Put the chocolate pudding on the black bowl, then open the middle drawer of the cabinet
Third-person view · Wrist view
Compose 002
Put the cream cheese on the stove, then turn on the stove
Third-person view · Wrist view
Compose 003
Put the cream cheese on the stove, then push the plate to the front of the stove
Third-person view · Wrist view
Compose 004
Open the top drawer of the wooden cabinet, then put the ramekin on the plate
Third-person view · Wrist view
Compose 005
Put the moka pot on the stove, then close the microwave door
Third-person view · Wrist view
Compose 006
Put the butter in the basket, and then put the tomato sauce in the basket
Third-person view · Wrist view
Compose 007
Push the plate to the front of the stove, and then open the middle drawer of the cabinet
Third-person view · Wrist view
Compose 008
Put the alphabet soup in the basket, and then put the tomato sauce in the basket
Third-person view · Wrist view
Compose 009
Put the milk in the basket, and then put the cream cheese box in the basket
Third-person view · Wrist view
Compose 010
Put the alphabet soup, the butter, and the tomato sauce in the basket one after another
Third-person view · Wrist view
Compose 011
Put the cream cheese on the black bowl, and then push the plate to the front of the stove
Third-person view · Wrist view
Compose 012
Put the tomato sauce in the basket, then put the white mug on the plate
Third-person view · Wrist view
Compose 013
Put the alphabet soup in the basket, then put the white mug on the left plate, then put the cream cheese box in the basket
Third-person view · Wrist view
Compose 014
Put the moka pot on the stove, then close the bottom drawer of the cabinet
Third-person view · Wrist view
Compose 015
Pick the butter and place it in the right compartment of the bowl drainer, then pick the tomato sauce and place it in the left compartment of the bowl drainer
Third-person view · Wrist view
Compose 016
Put the ramekin in the basket, then put the alphabet soup on the right plate
Third-person view · Wrist view
Compose 017
Put the tomato sauce in the basket, and then put the yellow and white mug on the plate
Third-person view · Wrist view
Compose 018
Pick the alphabet soup and place it in the left compartment of the bowl drainer, then pick the tomato sauce and place it in the right compartment of the bowl drainer
Third-person view · Wrist view
Compose 019
Put the alphabet soup in the basket, then put the butter in the basket, then put the cream cheese box in the basket
Third-person view · Wrist view
Compose 020
Put the cream cheese on the stove, then turn on the stove, then open the top drawer of the wooden cabinet
20 evaluation tasks
Decompose
Perform the requested part of a learned long-horizon task, leaving the rest of the sequence out.
Third-person view · Wrist view
Decompose 001
Put the white mug on the left plate
Third-person view · Wrist view
Decompose 002
Put the yellow and white mug on the right plate
Third-person view · Wrist view
Decompose 003
Put the white mug on the plate
Third-person view · Wrist view
Decompose 004
Put the chocolate pudding to the right of the plate
Third-person view · Wrist view
Decompose 005
Put the yellow and white mug in the microwave
Third-person view · Wrist view
Decompose 006
Close the microwave
Third-person view · Wrist view
Decompose 007
Put the moka pot on the stove
Third-person view · Wrist view
Decompose 008
Put the alphabet soup in the basket
Third-person view · Wrist view
Decompose 009
Put the cream cheese box in the basket
Third-person view · Wrist view
Decompose 010
Put the alphabet soup in the basket
Third-person view · Wrist view
Decompose 011
Put the tomato sauce in the basket
Third-person view · Wrist view
Decompose 012
Put the cream cheese box in the basket
Third-person view · Wrist view
Decompose 013
Put the butter in the basket
Third-person view · Wrist view
Decompose 014
Close the bottom drawer of the cabinet
Third-person view · Wrist view
Decompose 015
Turn on the stove
Third-person view · Wrist view
Decompose 016
Put the black bowl in the bottom drawer of the cabinet
Third-person view · Wrist view
Decompose 017
Put the left moka pot on the stove
Third-person view · Wrist view
Decompose 018
Put the right moka pot on the stove
Third-person view · Wrist view
Decompose 019
Open the top drawer of the cabinet
Third-person view · Wrist view
Decompose 020
Put the black bowl inside the top drawer of the cabinet
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