LIBERO

LIBERO mainstream VLA setting

3

LIBERO fixed task suites π0.5

3

LIBERO Simulation Benchmark original (test)

3

LIBERO-Goal (sampled initial states)

2

LIBERO Spatial-only transfer

2

LIBERO (held-out test)

2

LIBERO (val)

2

LIBERO Average Viewpoint Shift

2

LIBERO Large Viewpoint Shift

2

LIBERO Medium Viewpoint Shift

2

LIBERO Small Viewpoint Shift

2

LIBERO Camera jitter

2

LIBERO Occlusion (train)

2

LIBERO-Plus (first 200 tasks in each category)

2

LIBERO-PRO Goal-Env

2

LIBERO-PRO Object-Env

2

LIBERO-PRO Spatial-Env

2

LIBERO-PRO Goal-Pos

2

LIBERO-PRO Object-Pos

2

LIBERO-10

2

LIBERO

2

LIBERO-10

2

LIBERO Long plus (test)

2

LIBERO-Goal plus (test)

2

LIBERO-Spatial plus (test)

2