Libero Tasks
The Lightwheel-Libero-Tasks provides a comprehensive set of manipulation tasks designed to evaluate robotic manipulation capabilities across various scenarios. These tasks focus on object manipulation, spatial reasoning, and multi-step operations.
Task Implementation Details
Key Features
- Multi-object Manipulation: Tasks involve handling multiple objects simultaneously
- Spatial Reasoning: Requires understanding of object relationships and positioning
- Precision Placement: Demands accurate object placement in specific locations
Usage Examples
# Pick up alphabet soup and place in basket (LO task → libero-5-5)
task = "LOPickUpTheAlphabetSoupAndPlaceItInTheBasket"
layout = "libero-5-5" # LO tasks use floor task scene
robot = "PandaOmron-Rel"
# Multi-object manipulation in living room (L10L task → libero-2-2)
task = "L10L2PutBothTheCreamCheeseBoxAndTheButterInTheBasket"
layout = "libero-2-2" # L10L tasks use living room scene
robot = "PandaOmron-Rel"
# Kitchen manipulation task (L90K task → libero-1-1)
task = "L90K9TurnOnTheStove"
layout = "libero-1-1" # L90K tasks use kitchen scene
robot = "PandaOmron-Rel"
Complete Task-Scene Mapping
The following table provides a comprehensive mapping of all Lightwheel-Libero-Tasks to their corresponding scenes, organized by scene type:
libero-1-1 (Kitchen Scene)
| Task Name | Scene | Task Description |
|---|---|---|
| L90K3PutTheFryingPanOnTheStove | libero-1-1 | Put the frying pan on the stove |
| L90K3PutTheMokaPotOnTheStove | libero-1-1 | Put the moka pot on the stove |
| L90K8PutTheRightMokaPotOnTheStove | libero-1-1 | Put the right moka pot on the stove |
| L90K10PutTheButterAtTheBackInTheTopDrawerOfTheCabinetAndCloseIt | libero-1-1 | Put the butter at the back in the top drawer of the cabinet and close it |
| L90K1PutTheBlackBowlOnThePlate | libero-1-1 | Put the black bowl on the plate |
| L90K2StackTheBlackBowlAtTheFrontOnTheBlackBowlInTheMiddle | libero-1-1 | Stack the black bowl at the front on the black bowl in the middle |
| L90K4PutTheWineBottleOnTheWineRack | libero-1-1 | Put the wine bottle on the wine rack |
| L90K5PutTheBlackBowlInTheTopDrawerOfTheCabinet | libero-1-1 | Put the black bowl in the top drawer of the cabinet |
| L90K1OpenTheTopDrawerOfTheCabinetAndPutTheBowlInIt | libero-1-1 | Open the top drawer of the cabinet and put the bowl in it |
| L90K5CloseTheTopDrawerOfTheCabinet | libero-1-1 | Close the top drawer of the cabinet |
| L90K10CloseTheTopDrawerOfTheCabinet | libero-1-1 | Close the top drawer of the cabinet |
| L90K4CloseTheBottomDrawerOfTheCabinet | libero-1-1 | Close the bottom drawer of the cabinet |
| L90K4PutTheBlackBowlInTheBottomDrawerOfTheCabinet | libero-1-1 | Put the black bowl in the bottom drawer of the cabinet |
| L90K4PutTheWineBottleInTheBottomDrawerOfTheCabinet | libero-1-1 | Put the wine bottle in the bottom drawer of the cabinet |
| L90K4PutTheBlackBowlOnTopOfTheCabinet | libero-1-1 | Put the black bowl on top of the cabinet |
| L10K4PutTheBlackBowlInTheBottomDrawerOfTheCabinetAndCloseIt | libero-1-1 | Put the black bowl in the bottom drawer of the cabinet and close it |
| L90K4CloseTheBottomDrawerOfTheCabinetAndOpenTheTopDrawer | libero-1-1 | Close the bottom drawer of the cabinet and open the top drawer |
| L90K10CloseTheTopDrawerOfTheCabinetAndPutTheBlackBowlOnTopOfIt | libero-1-1 | Close the top drawer of the cabinet and put the black bowl on top of it |
| L90K10PutTheBlackBowlInTheTopDrawerOfTheCabinet | libero-1-1 | Put the black bowl in the top drawer of the cabinet |
| L90K10PutTheButterAtTheFrontInTheTopDrawerOfTheCabinetAndCloseIt | libero-1-1 | Put the butter at the front in the top drawer of the cabinet and close it |
| L90K10PutTheChocolatePuddingInTheTopDrawerOfTheCabinetAndCloseIt | libero-1-1 | Put the chocolate pudding in the top drawer of the cabinet and close it |
| L90K5PutTheBlackBowlOnTopOfTheCabinet | libero-1-1 | Put the black bowl on top of the cabinet |
| L90K5PutTheKetchupInTheTopDrawerOfTheCabinet | libero-1-1 | Put the ketchup in the top drawer of the cabinet |
| L90K5PutTheBlackBowlOnThePlate | libero-1-1 | Put the black bowl on the plate |
| L90K2PutTheMiddleBlackBowlOnThePlate | libero-1-1 | Put the middle black bowl on the plate |
| L90K2PutTheBlackBowlAtTheFrontOnThePlate | libero-1-1 | Put the black bowl at the front on the plate |
| L90K2StackTheMiddleBlackBowlOnTheBackBlackBowl | libero-1-1 | Stack the middle black bowl on the back black bowl |
| L90K2PutTheBlackBowlAtTheBackOnThePlate | libero-1-1 | Put the black bowl at the back on the plate |
| L90K2OpenTheTopDrawerOfTheCabinet | libero-1-1 | Open the top drawer of the cabinet |
| L90K7PutTheWhiteBowlOnThePlate | libero-1-1 | Put the white bowl on the plate |
| L90K7PutTheWhiteBowlToTheRightOfThePlate | libero-1-1 | Put the white bowl to the right of the plate |
| L90K7OpenTheMicrowave | libero-1-1 | Open the microwave |
| L90K3TurnOnTheStove | libero-1-1 | Turn on the stove |
| L90K9TurnOnTheStove | libero-1-1 | Turn on the stove |
| L90K3TurnOnTheStoveAndPutTheFryingPanOnIt | libero-1-1 | Turn on the stove and put the frying pan on it |
| L90K9TurnOnTheStoveAndPutTheFryingPanOnIt | libero-1-1 | Turn on the stove and put the frying pan on it |
| L10K3TurnOnTheStoveAndPutTheMokaPotOnIt | libero-1-1 | Turn on the stove and put the moka pot on it |
| L90K1OpenTheBottomDrawerOfTheCabinet | libero-1-1 | Open the bottom drawer of the cabinet |
| L90K1OpenTheTopDrawerOfTheCabinet | libero-1-1 | Open the top drawer of the cabinet |
| L90K2PutTheMiddleBlackBowlOnTopOfTheCabinet | libero-1-1 | Put the middle black bowl on top of the cabinet |
| L90K6PutTheYellowAndWhiteMugToTheFrontOfTheWhiteMug | libero-1-1 | Put the yellow and white mug to the front of the white mug |
| L90K6CloseTheMicrowave | libero-1-1 | Close the microwave |
| L10K6PutTheYellowAndWhiteMugInTheMicrowaveAndCloseIt | libero-1-1 | Put the yellow and white mug in the microwave and close it |
| L90K9PutTheWhiteBowlOnTopOfTheCabinet | libero-1-1 | Put the white bowl on top of the cabinet |
| L90K1PutTheBlackBowlOnTopOfTheCabinet | libero-1-1 | Put the black bowl on top of the cabinet |
| L10K8PutBothMokaPotsOnTheStove | libero-1-1 | Put both moka pots on the stove |
| L90K9PutTheFryingPanOnTheCabinetShelf | libero-1-1 | Put the frying pan on the cabinet shelf |
| L90K9PutTheFryingPanOnTopOfTheCabinet | libero-1-1 | Put the frying pan on top of the cabinet |
| L90K9PutTheFryingPanUnderTheCabinetShelf | libero-1-1 | Put the frying pan under the cabinet shelf |
| L90K8TurnOffTheStove | libero-1-1 | Turn off the stove |
libero-2-2 (Living Room Scene)
| Task Name | Scene | Task Description |
|---|---|---|
| L10L2PutBothTheCreamCheeseBoxAndTheButterInTheBasket | libero-2-2 | Put both the cream cheese box and the butter in the basket |
| L10L2PutBothTheAlphabetSoupAndTheTomatoSauceInTheBasket | libero-2-2 | Put both the alphabet soup and the tomato sauce in the basket |
| L10L1PutBothTheAlphabetSoupAndTheCreamCheeseBoxInTheBasket | libero-2-2 | Put both the alphabet soup and the cream cheese box in the basket |
| L90L3PickUpTheCreamCheeseAndPutItInTheTray | libero-2-2 | Pick up the cream cheese and put it in the tray |
| L90S1PickUpTheYellowAndWhiteMugAndPlaceItToTheRightOfTheCaddy | libero-2-2 | Pick up the yellow and white mug and place it to the right of the caddy |
| L90L5PutTheYellowAndWhiteMugOnTheRightPlate | libero-2-2 | Put the yellow and white mug on the right plate |
| L90L5PutTheWhiteMugOnTheLeftPlate | libero-2-2 | Put the white mug on the left plate |
| L90L4StackTheLeftBowlOnTheRightBowlAndPlaceThemInTheTray | libero-2-2 | Stack the left bowl on the right bowl and place them in the tray |
| L90L4PickUpTheChocolatePuddingAndPutItInTheTray | libero-2-2 | Pick up the chocolate pudding and put it in the tray |
| L90L1PickUpTheKetchupAndPutItInTheBasket | libero-2-2 | Pick up the ketchup and put it in the basket |
| L90L1PickUpTheCreamCheeseBoxAndPutItInTheBasket | libero-2-2 | Pick up the cream cheese box and put it in the basket |
| L90L2PickUpTheTomatoSauceAndPutItInTheBasket | libero-2-2 | Pick up the tomato sauce and put it in the basket |
| L90L2PickUpTheAlphabetSoupAndPutItInTheBasket | libero-2-2 | Pick up the alphabet soup and put it in the basket |
| L90L2PickUpTheOrangeJuiceAndPutItInTheBasket | libero-2-2 | Pick up the orange juice and put it in the basket |
| L90L1PickUpTheTomatoSauceAndPutItInTheBasket | libero-2-2 | Pick up the tomato sauce and put it in the basket |
| L90L2PickUpTheButterAndPutItInTheBasket | libero-2-2 | Pick up the butter and put it in the basket |
| L90L1PickUpTheAlphabetSoupAndPutItInTheBasket | libero-2-2 | Pick up the alphabet soup and put it in the basket |
| L90L4PickUpTheBlackBowlOnTheLeftAndPutItInTheTray | libero-2-2 | Pick up the black bowl on the left and put it in the tray |
| L10L5PutWhiteMugOnLeftPlateAndPutYellowAndWhiteMugOnRightPlate | libero-2-2 | Put the white mug on the left plate and put the yellow and white mug on the right plate |
| L90L3PickUpTheTomatoSauceAndPutItInTheTray | libero-2-2 | Pick up the tomato sauce and put it in the tray |
| L90L3PickUpTheKetchupAndPutItInTheTray | libero-2-2 | Pick up the ketchup and put it in the tray |
| L90L4PickUpTheSaladDressingAndPutItInTheTray | libero-2-2 | Pick up the salad dressing and put it in the tray |
| L90L5PutTheRedMugOnTheLeftPlate | libero-2-2 | Put the red mug on the left plate |
| L90L6PutTheWhiteMugOnThePlate | libero-2-2 | Put the white mug on the plate |
| L90L3PickUpTheButterAndPutItInTheTray | libero-2-2 | Pick up the butter and put it in the tray |
| L90L4StackTheRightBowlOnTheLeftBowlAndPlaceThemInTheTray | libero-2-2 | Stack the right bowl on the left bowl and place them in the tray |
| L90L2PickUpTheMilkAndPutItInTheBasket | libero-2-2 | Pick up the milk and put it in the basket |
| L10L6PutWhiteMugOnPlateAndPutChocolatePuddingToRightPlate | libero-2-2 | Put the white mug on the plate and put the chocolate pudding to the right of the plate |
| L90L6PutTheRedMugOnThePlate | libero-2-2 | Put the red mug on the plate |
| L90L5PutTheRedMugOnTheRightPlate | libero-2-2 | Put the red mug on the right plate |
| L90L6PutTheChocolatePuddingToTheLeftOfThePlate | libero-2-2 | Put the chocolate pudding to the left of the plate |
| L90L6PutTheChocolatePuddingToTheRightOfThePlate | libero-2-2 | Put the chocolate pudding to the right of the plate |
| L90L3PickUpTheAlphabetSoupAndPutItInTheTray | libero-2-2 | Pick up the alphabet soup and put it in the tray |
libero-4-4 (Study Scene)
| Task Name | Scene | Task Description |
|---|---|---|
| L90S2PickUpTheBookAndPlaceItInTheLeftCompartmentOfTheCaddy | libero-4-4 | Pick up the book and place it in the left compartment of the caddy |
| L90S2PickUpTheBookAndPlaceItInTheBackCompartmentOfTheCaddy | libero-4-4 | Pick up the book and place it in the back compartment of the caddy |
| L90S4PickUpTheBookOnTheLeftAndPlaceItOnTopOfTheShelf | libero-4-4 | Pick up the book on the left and place it on top of the shelf |
| L90S4PickUpTheBookOnTheRightAndPlaceItOnTheCabinetShelf | libero-4-4 | Pick up the book on the right and place it on the cabinet shelf |
| L10S1PickUpTheBookAndPlaceItInTheBackCompartmentOfTheCaddy | libero-4-4 | Pick up the book and place it in the back compartment of the caddy |
| L90S3PickUpTheBookAndPlaceItInTheRightCompartmentOfTheCaddy | libero-4-4 | Pick up the book and place it in the right compartment of the caddy |
| L90S3PickUpTheBookAndPlaceItInTheLeftCompartmentOfTheCaddy | libero-4-4 | Pick up the book and place it in the left compartment of the caddy |
| L90S2PickUpTheBookAndPlaceItInTheRightCompartmentOfTheCaddy | libero-4-4 | Pick up the book and place it in the right compartment of the caddy |
| L90S4PickUpTheBookInTheMiddleAndPlaceItOnTheCabinetShelf | libero-4-4 | Pick up the book in the middle and place it on the cabinet shelf |
| L90S3PickUpTheRedMugAndPlaceItToTheRightOfTheCaddy | libero-4-4 | Pick up the red mug and place it to the right of the caddy |
| L90S4PickUpTheBookOnTheRightAndPlaceItUnderTheCabinetShelf | libero-4-4 | Pick up the book on the right and place it under the cabinet shelf |
| L90S1PickUpTheBookAndPlaceItInTheFrontCompartmentOfTheCaddy | libero-4-4 | Pick up the book and place it in the front compartment of the caddy |
| L90S1PickUpTheBookAndPlaceItInTheRightCompartmentOfTheCaddy | libero-4-4 | Pick up the book and place it in the right compartment of the caddy |
| L90S1PickUpTheBookAndPlaceItInTheLeftCompartmentOfTheCaddy | libero-4-4 | Pick up the book and place it in the left compartment of the caddy |
| L90S2PickUpTheBookAndPlaceItInTheFrontCompartmentOfTheCaddy | libero-4-4 | Pick up the book and place it in the front compartment of the caddy |
| L90S3PickUpTheBookAndPlaceItInTheFrontCompartmentOfTheCaddy | libero-4-4 | Pick up the book and place it in the front compartment of the caddy |
| L90S3PickUpTheWhiteMugAndPlaceItToTheRightOfTheCaddy | libero-4-4 | Pick up the white mug and place it to the right of the caddy |
libero-5-5 (Floor Task Scene)
| Task Name | Scene | Task Description |
|---|---|---|
| LOPickUpTheAlphabetSoupAndPlaceItInTheBasket | libero-5-5 | Pick up the alphabet soup and place it in the basket |
| LOPutCreamCheeseInBasket | libero-5-5 | Put cream cheese in basket |
| LOPickUpTheBbqSauceAndPlaceItInTheBasket | libero-5-5 | Pick up the BBQ sauce and place it in the basket |
| LOPickUpTheChocolatePuddingAndPlaceItInTheBasket | libero-5-5 | Pick up the chocolate pudding and place it in the basket |
| LOPickUpTheButterAndPlaceItInTheBasket | libero-5-5 | Pick up the butter and place it in the basket |
| LOPickUpTheKetchupAndPlaceItInTheBasket | libero-5-5 | Pick up the ketchup and place it in the basket |
| LOPickUpTheMilkAndPlaceItInTheBasket | libero-5-5 | Pick up the milk and place it in the basket |
| LOPickUpTheOrangeJuiceAndPlaceItInTheBasket | libero-5-5 | Pick up the orange juice and place it in the basket |
| LOPickUpTheSaladDressingAndPlaceItInTheBasket | libero-5-5 | Pick up the salad dressing and place it in the basket |
| LOPickUpTheTomatoSauceAndPlaceItInTheBasket | libero-5-5 | Pick up the tomato sauce and place it in the basket |
libero-8-8 (Kitchen Scene)
| Task Name | Scene | Task Description |
|---|---|---|
| LGPutTheBowlOnThePlate | libero-8-8 | Put the bowl on the plate |
| LGPutTheCreamCheeseInTheBowl | libero-8-8 | Put the cream cheese in the bowl |
| LGPutTheWineBottleOnTopOfTheCabinet | libero-8-8 | Put the wine bottle on top of the cabinet |
| LGOpenTheTopDrawerAndPutTheBowlInside | libero-8-8 | Open the top drawer and put the bowl inside |
| LGOpenTheMiddleDrawerOfTheCabinet | libero-8-8 | Open the middle drawer of the cabinet |
| LGPutTheBowlOnTopOfTheCabinet | libero-8-8 | Put the bowl on top of the cabinet |
| LGPushThePlateToTheFrontOfTheStove | libero-8-8 | Push the plate to the front of the stove |
| LGPutTheBowlOnTheStove | libero-8-8 | Put the bowl on the stove |
| LGPutTheWineBottleOnTheRack | libero-8-8 | Put the wine bottle on the rack |
| LGTurnOnTheStove | libero-8-8 | Turn on the stove |
| LSPickUpBlackBowlInTopDrawerOfWoodenCabinetAndPlaceItOnPlate | libero-8-8 | Pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate |
| LSPickUpTheBlackBowlOnTheCookieBoxAndPlaceItOnThePlate | libero-8-8 | Pick up the black bowl on the cookie box and place it on the plate |
| LSPickUpTheBlackBowlOnTheRamekinAndPlaceItOnThePlate | libero-8-8 | Pick up the black bowl on the ramekin and place it on the plate |
| LSPickUpTheBlackBowlOnTheStoveAndPlaceItOnThePlate | libero-8-8 | Pick up the black bowl on the stove and place it on the plate |
| LSPickUpTheBlackBowlOnTheWoodenCabinetAndPlaceItOnThePlate | libero-8-8 | Pick up the black bowl on the wooden cabinet and place it on the plate |
| LSPickUpBlackBowlBetweenPlateAndRamekinAndPlaceItOnPlate | libero-8-8 | Pick up the black bowl between the plate and the ramekin and place it on the plate |
| LSPickUpTheBlackBowlFromTableCenterAndPlaceItOnThePlate | libero-8-8 | Pick up the black bowl from table center and place it on the plate |
| LSPickUpTheBlackBowlNextToTheCookieBoxAndPlaceItOnThePlate | libero-8-8 | Pick up the black bowl next to the cookie box and place it on the plate |
| LSPickUpTheBlackBowlNextToThePlateAndPlaceItOnThePlate | libero-8-8 | Pick up the black bowl next to the plate and place it on the plate |
| LSPickUpTheBlackBowlNextToTheRamekinAndPlaceItOnThePlate | libero-8-8 | Pick up the black bowl next to the ramekin and place it on the plate |
These Libero tasks provide a comprehensive evaluation framework for robotic manipulation capabilities, covering various complexity levels and manipulation scenarios.