LIBERO-plus#

本节介绍 LeRobot 的通用功能。请按目标机器人、数据集和运行环境配置示例；用于 AlohaMini 2 / 2 Pro 前，需要确认硬件与接口兼容性。

LIBERO-plus is a robustness benchmark for Vision-Language-Action (VLA) models built on top of LIBERO. It systematically stress-tests policies by applying seven independent perturbation dimensions to the original LIBERO task set, exposing failure modes that standard benchmarks miss.

Paper: In-depth Robustness Analysis of Vision-Language-Action Models
GitHub: sylvestf/LIBERO-plus
Dataset: lerobot/libero_plus

An overview of the LIBERO-plus benchmark perturbation dimensions

Perturbation dimensions#

LIBERO-plus creates ~10 000 task variants by perturbing each original LIBERO task along these axes:

Dimension	What changes
Objects layout	Target position, presence of confounding objects
Camera viewpoints	Camera position, orientation, field-of-view
Robot initial states	Manipulator start pose
Language instructions	LLM-rewritten task description (paraphrase / synonym)
Light conditions	Intensity, direction, color, shadow
Background textures	Scene surface and object appearance
Sensor noise	Photometric distortions and image degradation

Available task suites#

LIBERO-plus covers the same five suites as LIBERO:

Suite	CLI name	Tasks	Max steps	Description
LIBERO-Spatial	`libero_spatial`	10	280	Tasks requiring reasoning about spatial relations
LIBERO-Object	`libero_object`	10	280	Tasks centered on manipulating different objects
LIBERO-Goal	`libero_goal`	10	300	Goal-conditioned tasks with changing targets
LIBERO-90	`libero_90`	90	400	Short-horizon tasks from the LIBERO-100 collection
LIBERO-Long	`libero_10`	10	520	Long-horizon tasks from the LIBERO-100 collection

提示

Installing LIBERO-plus replaces vanilla LIBERO — it uninstalls hf-libero so that import libero resolves to the LIBERO-plus fork. You cannot have both installed at the same time. To switch back to vanilla LIBERO, uninstall the fork and reinstall with pip install -e ".[libero]".

Installation#

System dependencies (Linux only)#

sudo apt install libexpat1 libfontconfig1-dev libmagickwand-dev

Python package#

pip install -e ".[libero]" "robosuite==1.4.1" bddl easydict mujoco wand scikit-image gym
git clone https://github.com/sylvestf/LIBERO-plus.git
cd LIBERO-plus && pip install --no-deps -e .
pip uninstall -y hf-libero  # so `import libero` resolves to the fork

LIBERO-plus is installed from its GitHub fork rather than a pyproject extra — the fork ships as a namespace package that pip can't handle, so it must be cloned and added to PYTHONPATH. See docker/Dockerfile.benchmark.libero_plus for the canonical install. MuJoCo is required, so only Linux is supported.

提示

Set the MuJoCo rendering backend before running evaluation:

export MUJOCO_GL=egl   # headless / HPC / cloud

Download LIBERO-plus assets#

LIBERO-plus ships its extended asset pack separately. Download assets.zip from the Hugging Face dataset and extract it into the LIBERO-plus package directory:

# After installing the package, find where it was installed:
python -c "import libero; print(libero.__file__)"
# Then extract assets.zip into <package_root>/libero/assets/

Evaluation#

Default evaluation (recommended)#

Evaluate across the four standard suites (10 episodes per task):

lerobot-eval \
  --policy.path="your-policy-id" \
  --env.type=libero_plus \
  --env.task=libero_spatial,libero_object,libero_goal,libero_10 \
  --eval.batch_size=1 \
  --eval.n_episodes=10 \
  --env.max_parallel_tasks=1

Single-suite evaluation#

Evaluate on one LIBERO-plus suite:

lerobot-eval \
  --policy.path="your-policy-id" \
  --env.type=libero_plus \
  --env.task=libero_spatial \
  --eval.batch_size=1 \
  --eval.n_episodes=10

--env.task picks the suite (libero_spatial, libero_object, etc.).
--env.task_ids restricts to specific task indices ([0], [1,2,3], etc.). Omit to run all tasks in the suite.
--eval.batch_size controls how many environments run in parallel.
--eval.n_episodes sets how many episodes to run per task.

Multi-suite evaluation#

Benchmark a policy across multiple suites at once by passing a comma-separated list:

lerobot-eval \
  --policy.path="your-policy-id" \
  --env.type=libero_plus \
  --env.task=libero_spatial,libero_object \
  --eval.batch_size=1 \
  --eval.n_episodes=10

Control mode#

LIBERO-plus supports two control modes — relative (default) and absolute. Different VLA checkpoints are trained with different action parameterizations, so make sure the mode matches your policy:

--env.control_mode=relative   # or "absolute"

Policy inputs and outputs#

Observations:

observation.state — 8-dim proprioceptive features (eef position, axis-angle orientation, gripper qpos)
observation.images.image — main camera view (agentview_image), HWC uint8
observation.images.image2 — wrist camera view (robot0_eye_in_hand_image), HWC uint8

Actions:

Continuous control in Box(-1, 1, shape=(7,)) — 6D end-effector delta + 1D gripper

Recommended evaluation episodes#

For reproducible benchmarking, use 10 episodes per task across all four standard suites (Spatial, Object, Goal, Long). This gives 400 total episodes and matches the protocol used for published results.

Training#

Dataset#

A LeRobot-format training dataset for LIBERO-plus is available at:

lerobot/libero_plus

Example training command#

lerobot-train \
    --policy.type=smolvla \
    --policy.repo_id=${HF_USER}/smolvla_libero_plus \
    --policy.load_vlm_weights=true \
    --dataset.repo_id=lerobot/libero_plus \
    --env.type=libero_plus \
    --env.task=libero_spatial \
    --output_dir=./outputs/ \
    --steps=100000 \
    --batch_size=4 \
    --eval.batch_size=1 \
    --eval.n_episodes=1 \
    --env_eval_freq=1000

Relationship to LIBERO#

LIBERO-plus is a drop-in extension of LIBERO:

Same Python gym interface (LiberoEnv, LiberoProcessorStep)
Same camera names and observation/action format
Same task suite names
Installs under the same libero Python package name (different GitHub repo)

To use the original LIBERO benchmark, see LIBERO and use --env.type=libero.