---
title: LIBERO-Mem
description: "Non-Markovian LIBERO suite: 10 object-memory tasks (OM / OS / OR / OO). WorldFoundry imports official rollouts — it does not run the simulator."
---

LIBERO-Mem (AAAI 2026) is **not** the Spatial / Object / Goal / LIBERO-100 lifelong suites. FPT Software AI Center (with Arkansas, Stuttgart, CMU, Aalborg, and Liverpool) added **10 new** tabletop tasks on the LIBERO / robosuite stack so a policy cannot succeed from the current frame. Cues live in **object history**: what moved, how many times, in what order, or behind an occlusion. The four official memory axes:

- **Object Motion (OM)** — recall the last pick / place on an aliased scene.
- **Object Sequence (OS)** — count repeated pick-and-place (3× / 5× / 7×).
- **Object Relations (OR)** — swap or rotate identical bowls across plates.
- **Object Occlusion (OO)** — remember which basket hid which object.

Each task ships **120** trajectories (100 train / 20 val), **200–700** frames, instance IDs, masks, and symbolic subgoals (`→`, `∨`). Official scoring reports **task success** and **subgoal completion**. Embodied-SlotSSM is the authors' companion VLA — a model-card fact, not a WorldFoundry board row.

Paper: [Rethinking Progression of Memory State in Robotic Manipulation](https://arxiv.org/abs/2511.11478). Project: [libero-mem.github.io](https://libero-mem.github.io/). Code: [libero-mem/libero-mem](https://github.com/libero-mem/libero-mem).

WorldFoundry is **official-results only**. You run the upstream evaluator, then `official-validation` normalizes JSON/CSV into the scorecard. No in-tree simulator, no Embodied-SlotSSM weights. That is different from [base LIBERO](/docs/evaluation/benchmark-hub/libero), which can also wire closed-loop execution.

<BenchmarkPageSections id="libero-mem" locale="en" />

## How to run

```bash
worldfoundry-eval zoo benchmark-run \
  --benchmark-id libero-mem \
  --mode official-validation \
  --official-results-path <official_results.json> \
  --output-dir tmp/libero-mem/official-validation \
  --json
```

Optional `WORLDFOUNDRY_LIBERO_MEM_ROOT` points at a local toolkit / repo root. Default import path when you omit `--official-results-path` is `WORLDFOUNDRY_LIBERO_MEM_RESULTS_PATH`. Manifest: `worldfoundry/data/benchmarks/tasks/external/libero-mem.yaml`. Outputs: `scorecard.json` (primary `success_rate`; also `memory_success_rate` when the export has it), `raw_results.jsonl`, and `evaluation/summary.json`.

[← Benchmark Hub](/docs/evaluation/benchmark-hub)