---
title: LIBERO-Plus
description: "CVPR 2026 robustness suite: 10,030 perturbed LIBERO instances across seven factors. WorldFoundry imports official rollouts — it does not run the fork."
---

LIBERO-Plus (CVPR 2026, Fudan / FudanNLP) is a **test-only** robustness overlay on the original LIBERO Spatial / Object / Goal / Long tasks, not a fifth lifelong suite. The authors generate **10,030** instances with controlled perturbations on **seven** factors (**21** sub-dimensions):

- **Object layout** — target displacement, confounders (1,525).
- **Camera viewpoint** — pose and FOV (1,599).
- **Robot initial state** — start pose (1,550).
- **Language instruction** — LLM rewrites (1,537).
- **Lighting** — intensity, direction, color, shadow (1,142).
- **Background texture** — scene / surface look (1,076).
- **Sensor noise** — photometric degradation (1,601).

Instances are binned into **L1–L5** by how many of four reference models solved them (L1 = all four, L5 = none). The paper's scan of ten VLAs reports drops from about **95%** on clean LIBERO to **below 30%** under modest camera or initial-state shifts — an upstream finding, not a hub score.

Paper: [LIBERO-Plus](https://arxiv.org/abs/2510.13626). Project: [sylvestf.github.io/LIBERO-plus](https://sylvestf.github.io/LIBERO-plus/). Code: [sylvestf/LIBERO-plus](https://github.com/sylvestf/LIBERO-plus) (MIT; drop-in `libero` fork).

WorldFoundry is **official-results only**. You run the upstream fork, then `official-validation` normalizes the export. No in-tree robosuite, no Plus assets. [Base LIBERO](/docs/evaluation/benchmark-hub/libero) can wire closed-loop execution; this card cannot.

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

## How to run

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

Optional `WORLDFOUNDRY_LIBERO_PLUS_ROOT` points at the `sylvestf/LIBERO-plus` checkout. Default import path: `WORLDFOUNDRY_LIBERO_PLUS_RESULTS_PATH`. Manifest: `worldfoundry/data/benchmarks/tasks/external/libero-plus.yaml`. Outputs: `scorecard.json` (primary `success_rate`), `raw_results.jsonl`, and `evaluation/summary.json`.

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