LIBERO
Benchmarks
Task NameDataset NameSOTA ResultTrendResults
LIBERO-10
7.43Side MSE
8
LIBERO-90
5.96Side MSE
8
LIBERO 130 tasks across five suites
98.3LIBERO Object Success Rate
8
libero-object
95.7AVG
8
libero spatial
85.8Average Success Rate (AVG)
8
LIBERO-50
60.8Forward Task Transfer (FWT)
8
LIBERO OpenPi LeRobot-formatted (test)
98.8Spatial Success
8
LIBERO Spatial (full)
97.6Success Rate
8
LIBERO (test)
98.4Spatial Score
8
LIBERO Goal
92.4FWT
8
LIBERO Spatial 13 (test)
87.4Forward Transfer (FWT)
7
LIBERO-CF
55.3Spatial Success Rate
7
LIBERO unseen tasks perturbed environments
75.6Success Rate (Unseen Task)
7
LIBERO
50Soup-Sauce Success Rate
7
LIBERO end-of-training 90 (test)
43Task 26 Score
7
LIBERO Occ
74Average Score
7
LIBERO Original
95.75Average Success Rate
7
LIBERO Joint Limit, Locked
72.2Success Rate (j0)
7
LIBERO Joint Limit, Range 0.03
87.5Success Rate (j0)
7
LIBERO Joint Limit, Range 0.05
93.8j0 Success Rate
7
LIBERO Fault-free Range Scale 1.0
97Success Rate
7
LIBERO pick-and-place (Truncated T=324) 1.0 (curation set)
80.4AUROC
7
LIBERO Failure-injected
74Average Success Rate
7
LIBERO Object (full)
100Success Rate (SR)
7
LIBERO Spatial
96.69Success Rate
7