Dataset Card for LIBERO-PRO Perturbation Dataset

This dataset contains the bddl and init files of LIBERO-PRO configurations under object, relation, semantic, task, and environment perturbations. The dataset supports direct integration with the LIBERO-PRO framework.

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Dataset Details

This dataset extends the original LIBERO benchmark by introducing systematic perturbations in five dimensions:

1. Object Perturbation: Modifies object appearance, color, and scale to test adaptability to visual shifts.
2. Position Perturbation: Relocates objects within feasible spatial bounds to evaluate the model’s adaptability to spatial position changes.
3. Semantic Perturbation: Paraphrases natural language commands to probe linguistic robustness.
4. Task Perturbation: Redefines task logic and target states to test procedural generalization.
5. Environment Perturbation: Replaces working environments to evaluate cross-environment robustness.

Each perturbation includes corresponding init files (initial environment configurations) and bddl files (behavioral descriptions in BDDL format).

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Uses

How to use:

1. Copy all .bddl files to:

   LIBERO-PRO/libero/libero/bddl_files/
   

2. Copy all init files to:

   LIBERO-PRO/libero/libero/init_files/
   

3. Follow the quick start instructions provided in the LIBERO-PRO README.

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Dataset Structure

Each perturbation category contains:

• init/: Environment initialization files defining object placement and world state.
• bddl/: Task goal definitions in Behavior Domain Definition Language.

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Citation

If you use this dataset, please cite the LIBERO-PRO project:

BibTeX:

@misc{zhou2025liberopro,
  title={LIBERO-PRO: Benchmarking Perturbation Robustness of Visual Language Action Models},
  author={Zhou, Xueyang and Tie, Guiyao and Zhang, Guowen and Wang, Hechang and Zhou, Pan},
  year={2025},
  howpublished={\url{https://github.com/Zxy-MLlab/LIBERO-PRO}},
}

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Dataset Card Authors

• Xueyang Zhou
• Yangming Xu

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Dataset Card Contact

For questions or issues, please contact:
📧 [email protected]