LIBERO Dataset: How to Find Bad Robot Demos with FiftyOne

LIBERO is a widely used simulated robotics benchmark containing 6,500 human-teleoperated demonstrations across 130 language-conditioned manipulation tasks designed to test spatial, object, goal, and long-horizon knowledge transfer. The article describes using the open-source FiftyOne toolkit and a LeRobot dataset importer to load LIBERO episodes as synchronized agent-camera and wrist-camera groups, allowing users to inspect multi-view demonstrations interactively. CLIP embeddings and UMAP visualizations reveal visual and task-level structure in the data, while multimodal embeddings enable natural-language searches for relevant robot behaviors without requiring additional labels. FiftyOne’s uniqueness scoring identifies unusual frames and can surface potentially harmful demonstrations involving dropped objects, abnormal arm poses, or rendering errors, enabling episode-level review before data is used for imitation-learning policy training.

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