Meta-World

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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。

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Meta-World is an open-source simulation benchmark for multi-task and meta reinforcement learning in continuous-control robotic manipulation. It bundles 50 diverse manipulation tasks using everyday objects and a common tabletop Sawyer arm, providing a standardized playground to test whether algorithms can learn many different tasks and generalize quickly to new ones.

• Paper: Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learning paper

• GitHub: Farama-Foundation/Metaworld

• Project website: metaworld.farama.org

Available tasks

Meta-World provides 50 tasks organized into difficulty groups. In LeRobot, you can evaluate on individual tasks, difficulty groups, or the full MT50 suite:

Group	CLI name	Tasks	Description
Easy	easy	28	Tasks with simple dynamics and single-step goals
Medium	medium	11	Tasks requiring multi-step reasoning
Hard	hard	6	Tasks with complex contacts and precise manipulation
Very Hard	very_hard	5	The most challenging tasks in the suite
MT50 (all)	Comma-separated list	50	All 50 tasks — the most challenging multi-task setting

You can also pass individual task names directly (e.g., assembly-v3, dial-turn-v3).

We provide a LeRobot-ready dataset for Meta-World MT50 on the HF Hub: lerobot/metaworld_mt50. This dataset is formatted for the MT50 evaluation that uses all 50 tasks with fixed object/goal positions and one-hot task vectors for consistency.

Installation

After following the LeRobot installation instructions:

pip install -e ".[metaworld]"

提示

If you encounter an AssertionError: ['human', 'rgb_array', 'depth_array'] when running Meta-World environments, this is a mismatch between Meta-World and your Gymnasium version. Fix it with:

pip install "gymnasium==1.1.0"

Evaluation

Default evaluation (recommended)

Evaluate on the medium difficulty split (a good balance of coverage and compute):

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

Single-task evaluation

Evaluate on a specific task:

lerobot-eval \
  --policy.path="your-policy-id" \
  --env.type=metaworld \
  --env.task=assembly-v3 \
  --eval.batch_size=1 \
  --eval.n_episodes=10

Multi-task evaluation

Evaluate across multiple tasks or difficulty groups:

lerobot-eval \
  --policy.path="your-policy-id" \
  --env.type=metaworld \
  --env.task=assembly-v3,dial-turn-v3,handle-press-side-v3 \
  --eval.batch_size=1 \
  --eval.n_episodes=10

• --env.task accepts explicit task lists (comma-separated) or difficulty groups (e.g., easy, medium, hard, very_hard).

• --eval.batch_size controls how many environments run in parallel.

• --eval.n_episodes sets how many episodes to run per task.

Policy inputs and outputs

Observations:

• observation.image — single camera view (corner2), 480x480 HWC uint8

• observation.state — 4-dim proprioceptive state (end-effector position + gripper)

Actions:

• Continuous control in Box(-1, 1, shape=(4,)) — 3D end-effector delta + 1D gripper

Recommended evaluation episodes

For reproducible benchmarking, use 10 episodes per task. For the full MT50 suite this gives 500 total episodes. If you care about generalization, run on the full MT50 — it is intentionally challenging and reveals strengths/weaknesses better than a few narrow tasks.

Training

Example training command

Train a SmolVLA policy on a subset of Meta-World tasks:

lerobot-train \
  --policy.type=smolvla \
  --policy.repo_id=${HF_USER}/metaworld-test \
  --policy.load_vlm_weights=true \
  --dataset.repo_id=lerobot/metaworld_mt50 \
  --env.type=metaworld \
  --env.task=assembly-v3,dial-turn-v3,handle-press-side-v3 \
  --output_dir=./outputs/ \
  --steps=100000 \
  --batch_size=4 \
  --eval.batch_size=1 \
  --eval.n_episodes=1 \
  --env_eval_freq=1000

Practical tips

• Use the one-hot task conditioning for multi-task training (MT10/MT50 conventions) so policies have explicit task context.

• Inspect the dataset task descriptions and the info["is_success"] keys when writing post-processing or logging so your success metrics line up with the benchmark.

• Adjust batch_size, steps, and env_eval_freq to match your compute budget.