feat(envs): add LIBERO-plus robustness benchmark integration

- LiberoPlusEnv config (subclass of LiberoEnv, same gym interface)
- Docker image installing LIBERO-plus fork via PYTHONPATH
- CI workflow: 1-episode smoke eval with pepijn223/smolvla_libero_plus
- pyproject.toml: libero_plus extra

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

.github/workflows/benchmark_tests.yml

@@ -310,3 +310,101 @@ jobs:
           name: metaworld-metrics
           path: /tmp/metaworld-artifacts/metrics.json
           if-no-files-found: warn
+
+  # ── LIBERO-plus ───────────────────────────────────────────────────────────
+  # Isolated image: lerobot[libero_plus] only (LIBERO-plus from GitHub, mujoco)
+  libero-plus-integration-test:
+    name: LIBERO-plus — build image + 1-episode eval
+    runs-on:
+      group: aws-g6-4xlarge-plus
+    env:
+      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
+
+    steps:
+      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
+        with:
+          persist-credentials: false
+          lfs: true
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3 # zizmor: ignore[unpinned-uses]
+        with:
+          cache-binary: false
+
+      - name: Build LIBERO-plus benchmark image
+        uses: docker/build-push-action@v6 # zizmor: ignore[unpinned-uses]
+        with:
+          context: .
+          file: docker/Dockerfile.benchmark.libero_plus
+          push: false
+          load: true
+          tags: lerobot-benchmark-libero-plus:ci
+          cache-from: type=local,src=/tmp/.buildx-cache-libero-plus
+          cache-to: type=local,dest=/tmp/.buildx-cache-libero-plus,mode=max
+
+      - name: Login to Hugging Face
+        if: env.HF_USER_TOKEN != ''
+        run: |
+          docker run --rm \
+            -e HF_HOME=/tmp/hf \
+            lerobot-benchmark-libero-plus:ci \
+            bash -c "hf auth login --token '$HF_USER_TOKEN' --add-to-git-credential && hf auth whoami"
+
+      - name: Run LIBERO-plus smoke eval (1 episode)
+        run: |
+          docker run --name libero-plus-eval --gpus all \
+            --shm-size=4g \
+            -e HF_HOME=/tmp/hf \
+            -e HF_USER_TOKEN="${HF_USER_TOKEN}" \
+            -e HF_HUB_DOWNLOAD_TIMEOUT=300 \
+            lerobot-benchmark-libero-plus:ci \
+            bash -c "
+              hf auth login --token \"\$HF_USER_TOKEN\" --add-to-git-credential 2>/dev/null || true
+              lerobot-eval \
+                --policy.path=pepijn223/smolvla_libero_plus \
+                --env.type=libero_plus \
+                --env.task=libero_spatial \
+                '--env.task_ids=[0,100,260,500,1000,1500,2000,2400]' \
+                --eval.batch_size=1 \
+                --eval.n_episodes=1 \
+                --eval.use_async_envs=false \
+                --policy.device=cuda \
+                '--env.camera_name_mapping={\"agentview_image\": \"camera1\", \"robot0_eye_in_hand_image\": \"camera2\"}' \
+                --policy.empty_cameras=1 \
+                --output_dir=/tmp/eval-artifacts
+              python scripts/ci/extract_task_descriptions.py \
+                --env libero --task libero_spatial \
+                --output /tmp/eval-artifacts/task_descriptions.json
+            "
+
+      - name: Copy LIBERO-plus artifacts from container
+        if: always()
+        run: |
+          mkdir -p /tmp/libero-plus-artifacts
+          docker cp libero-plus-eval:/tmp/eval-artifacts/. /tmp/libero-plus-artifacts/ 2>/dev/null || true
+          docker rm -f libero-plus-eval || true
+
+      - name: Parse LIBERO-plus eval metrics
+        if: always()
+        run: |
+          python3 scripts/ci/parse_eval_metrics.py \
+            --artifacts-dir /tmp/libero-plus-artifacts \
+            --env libero_plus \
+            --task libero_spatial \
+            --policy pepijn223/smolvla_libero_plus
+
+      - name: Upload LIBERO-plus rollout video
+        if: always()
+        uses: actions/upload-artifact@v4
+        with:
+          name: libero-plus-rollout-video
+          path: /tmp/libero-plus-artifacts/videos/
+          if-no-files-found: warn
+
+      - name: Upload LIBERO-plus eval metrics
+        if: always()
+        uses: actions/upload-artifact@v4
+        with:
+          name: libero-plus-metrics
+          path: /tmp/libero-plus-artifacts/metrics.json
+          if-no-files-found: warn

docker/Dockerfile.benchmark.libero_plus

@@ -0,0 +1,119 @@
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# Isolated benchmark image for LIBERO-plus integration tests.
+# Installs only lerobot[libero_plus] (LIBERO-plus from GitHub, dm-control, mujoco).
+#
+# Build:  docker build -f docker/Dockerfile.benchmark.libero_plus -t lerobot-benchmark-libero-plus .
+# Run:    docker run --gpus all --rm lerobot-benchmark-libero-plus lerobot-eval ...
+
+ARG CUDA_VERSION=12.4.1
+ARG OS_VERSION=22.04
+FROM nvidia/cuda:${CUDA_VERSION}-base-ubuntu${OS_VERSION}
+
+ARG PYTHON_VERSION=3.12
+
+ENV DEBIAN_FRONTEND=noninteractive \
+    MUJOCO_GL=egl \
+    PATH=/lerobot/.venv/bin:$PATH \
+    CUDA_VISIBLE_DEVICES=0 \
+    DEVICE=cuda
+
+# System deps — same set as Dockerfile.internal plus LIBERO-plus extras
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    software-properties-common build-essential git curl \
+    libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
+    libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
+    cmake pkg-config ninja-build \
+    libexpat1 libfontconfig1-dev libmagickwand-dev \
+    && add-apt-repository -y ppa:deadsnakes/ppa \
+    && apt-get update \
+    && apt-get install -y --no-install-recommends \
+       python${PYTHON_VERSION} \
+       python${PYTHON_VERSION}-venv \
+       python${PYTHON_VERSION}-dev \
+    && curl -LsSf https://astral.sh/uv/0.8.0/install.sh | sh \
+    && mv /root/.local/bin/uv /usr/local/bin/uv \
+    && useradd --create-home --shell /bin/bash user_lerobot \
+    && usermod -aG sudo user_lerobot \
+    && apt-get clean && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /lerobot
+RUN chown -R user_lerobot:user_lerobot /lerobot
+USER user_lerobot
+
+ENV HOME=/home/user_lerobot \
+    HF_HOME=/home/user_lerobot/.cache/huggingface \
+    HF_LEROBOT_HOME=/home/user_lerobot/.cache/huggingface/lerobot \
+    TORCH_HOME=/home/user_lerobot/.cache/torch \
+    TRITON_CACHE_DIR=/home/user_lerobot/.cache/triton
+
+RUN uv venv --python python${PYTHON_VERSION}
+
+# Install only lerobot[libero_plus] — isolated from hf-libero and metaworld dep trees
+COPY --chown=user_lerobot:user_lerobot setup.py pyproject.toml uv.lock README.md MANIFEST.in ./
+COPY --chown=user_lerobot:user_lerobot src/ src/
+
+# Use uv pip install (not uv sync) — uv sync resolves all extras across all
+# Python versions, hitting cross-extra numpy conflicts. pip-style install
+# only resolves the requested extras for the current platform.
+# Install lerobot with libero_plus and smolvla extras.
+# The libero git dep sometimes gets silently skipped by uv pip install
+# when embedded in self-referential extras, so install it explicitly too.
+# Step 1: install lerobot with extras (libero git dep may be silently skipped)
+RUN uv pip install --no-cache -e ".[libero_plus,smolvla]"
+# Step 2: LIBERO-plus has a nested libero/libero/ structure that neither uv pip
+# install from git nor editable installs handle correctly (metadata-only install).
+# Clone and add to PYTHONPATH as the only reliable way to make it importable.
+RUN git clone --depth=1 https://github.com/sylvestf/LIBERO-plus.git /home/user_lerobot/libero-plus \
+    && mkdir -p /home/user_lerobot/.libero \
+    && echo 'assets: /tmp' > /home/user_lerobot/.libero/config.yaml
+# Install LIBERO-plus deps (robosuite, bddl, easydict, mujoco, etc.) from setup.py.
+# Pin robosuite==1.4.1 (fork uses single_arm_env removed in v1.5+), then install
+# the remaining deps from the clone. --no-build-isolation avoids rebuilding lerobot.
+RUN uv pip install --no-cache "robosuite==1.4.1" bddl easydict mujoco matplotlib wand scikit-image gym \
+    && cd /home/user_lerobot/libero-plus && uv pip install --no-cache --no-deps -e "."
+ENV PYTHONPATH="/home/user_lerobot/libero-plus:${PYTHONPATH}"
+
+# Pre-download libero assets so nothing is fetched at runtime (CI timeout risk).
+# libero/libero/__init__.py prompts with input() when ~/.libero/config.yaml is
+# missing; write the config first so any import is non-interactive.
+# LIBERO-plus installs with a nested package structure, so find_spec('libero')
+# may return a namespace package without .origin. Use glob to locate bddl_files.
+ENV LIBERO_PLUS_ROOT=/home/user_lerobot/libero-plus/libero/libero
+# Find hf-libero's init_files in site-packages (shallow clone doesn't have them).
+# Copy them into the PYTHONPATH clone so both bddl_files (from clone) and
+# init_files (from pip) are in the same tree.
+RUN uv pip install --no-cache --no-deps "hf-libero>=0.1.3,<0.2.0"
+RUN HF_LIBERO=$(uv pip show hf-libero 2>/dev/null | grep Location | awk '{print $2}') && \
+    if [ -d "${HF_LIBERO}/libero/libero/init_files" ]; then \
+        cp -r "${HF_LIBERO}/libero/libero/init_files" ${LIBERO_PLUS_ROOT}/init_files; \
+    fi && \
+    # Uninstall hf-libero so that Python imports LIBERO-plus (from PYTHONPATH)
+    # instead of vanilla hf-libero — LIBERO-plus has 2400+ perturbation tasks per
+    # suite, vanilla has only 10.
+    uv pip uninstall hf-libero 2>/dev/null || true
+RUN mkdir -p /home/user_lerobot/.libero && \
+    python${PYTHON_VERSION} -c "\
+from huggingface_hub import snapshot_download; \
+snapshot_download(repo_id='lerobot/libero-assets', repo_type='dataset', \
+                  local_dir='/home/user_lerobot/.libero/assets')" && \
+    printf "assets: /home/user_lerobot/.libero/assets\nbddl_files: ${LIBERO_PLUS_ROOT}/bddl_files\ndatasets: ${LIBERO_PLUS_ROOT}/../datasets\ninit_states: ${LIBERO_PLUS_ROOT}/init_files\n" \
+    > /home/user_lerobot/.libero/config.yaml
+
+RUN chmod +x /lerobot/.venv/lib/python${PYTHON_VERSION}/site-packages/triton/backends/nvidia/bin/ptxas
+
+COPY --chown=user_lerobot:user_lerobot . .
+
+CMD ["/bin/bash"]

docs/source/libero_plus.mdx

@@ -0,0 +1,171 @@
+# LIBERO-plus
+
+LIBERO-plus is a **robustness benchmark** for Vision-Language-Action (VLA) models built on top of [LIBERO](./libero). It systematically stress-tests policies by applying **seven independent perturbation dimensions** to the original LIBERO task set, exposing failure modes that standard benchmarks miss.
+
+- Paper: [LIBERO-plus: A Robustness Benchmark for VLA Models](https://github.com/sylvestf/LIBERO-plus)
+- GitHub: [sylvestf/LIBERO-plus](https://github.com/sylvestf/LIBERO-plus)
+- Dataset: [pepijn223/libero_plus_lerobot](https://huggingface.co/datasets/pepijn223/libero_plus_lerobot)
+
+## Perturbation dimensions
+
+LIBERO-plus creates ~10 000 task variants by perturbing each original LIBERO task along these axes:
+
+| Dimension             | What changes                                          |
+| --------------------- | ----------------------------------------------------- |
+| Objects layout        | Target position, presence of confounding objects      |
+| Camera viewpoints     | Camera position, orientation, field-of-view           |
+| Robot initial states  | Manipulator start pose                                |
+| Language instructions | LLM-rewritten task description (paraphrase / synonym) |
+| Light conditions      | Intensity, direction, color, shadow                   |
+| Background textures   | Scene surface and object appearance                   |
+| Sensor noise          | Photometric distortions and image degradation         |
+
+## Available task suites
+
+LIBERO-plus covers the same five suites as LIBERO:
+
+| Suite          | CLI name         | Tasks | Max steps |
+| -------------- | ---------------- | ----- | --------- |
+| LIBERO-Spatial | `libero_spatial` | 10    | 280       |
+| LIBERO-Object  | `libero_object`  | 10    | 280       |
+| LIBERO-Goal    | `libero_goal`    | 10    | 300       |
+| LIBERO-90      | `libero_90`      | 90    | 400       |
+| LIBERO-Long    | `libero_10`      | 10    | 520       |
+
+## Installation
+
+### System dependencies (Linux only)
+
+```bash
+sudo apt install libexpat1 libfontconfig1-dev libmagickwand-dev
+```
+
+### Python package
+
+```bash
+pip install -e ".[libero_plus]"
+```
+
+This installs LIBERO-plus directly from its GitHub repository. Because MuJoCo is required, only Linux is supported.
+
+<Tip>
+Set the MuJoCo rendering backend before running evaluation:
+
+```bash
+export MUJOCO_GL=egl   # headless / HPC / cloud
+```
+
+</Tip>
+
+### Download LIBERO-plus assets
+
+LIBERO-plus ships its extended asset pack separately. Download `assets.zip` from the [Hugging Face dataset](https://huggingface.co/datasets/Sylvest/LIBERO-plus/tree/main) and extract it into the LIBERO-plus package directory:
+
+```bash
+# After installing the package, find where it was installed:
+python -c "import libero; print(libero.__file__)"
+# Then extract assets.zip into <package_root>/libero/assets/
+```
+
+## Evaluation
+
+### Minimal smoke-test (1 episode, no async)
+
+```bash
+lerobot-eval \
+    --policy.path=pepijn223/smolvla_libero_plus \
+    --env.type=libero_plus \
+    --env.task=libero_spatial \
+    --eval.batch_size=1 \
+    --eval.n_episodes=1 \
+    --eval.use_async_envs=false \
+    --policy.device=cuda \
+    --env.camera_name_mapping='{"agentview_image": "camera1", "robot0_eye_in_hand_image": "camera2"}' \
+    --policy.empty_cameras=1
+```
+
+### Full robustness benchmark (recommended)
+
+```bash
+lerobot-eval \
+    --policy.path=<your-policy-id> \
+    --env.type=libero_plus \
+    --env.task=libero_spatial,libero_object,libero_goal,libero_10 \
+    --eval.batch_size=1 \
+    --eval.n_episodes=10 \
+    --env.max_parallel_tasks=1
+```
+
+### Key CLI flags
+
+| Flag                        | Description                                                      |
+| --------------------------- | ---------------------------------------------------------------- |
+| `--env.type=libero_plus`    | Selects LIBERO-plus environment (same gym interface as `libero`) |
+| `--env.task`                | Suite name(s), comma-separated                                   |
+| `--env.task_ids`            | Restrict to specific task indices, e.g. `[0,1,2]`                |
+| `--env.camera_name_mapping` | JSON dict remapping raw camera names to policy input keys        |
+| `--env.control_mode`        | `relative` (default) or `absolute`                               |
+| `--eval.use_async_envs`     | `true` for parallel rollouts (default), `false` for debugging    |
+| `--policy.empty_cameras`    | Number of camera slots without observations (policy-specific)    |
+
+### Camera name mapping
+
+By default, LIBERO cameras are mapped as:
+
+| Raw camera name            | LeRobot key                 |
+| -------------------------- | --------------------------- |
+| `agentview_image`          | `observation.images.image`  |
+| `robot0_eye_in_hand_image` | `observation.images.image2` |
+
+If your policy was trained with different key names, pass a JSON remapping:
+
+```bash
+--env.camera_name_mapping='{"agentview_image": "camera1", "robot0_eye_in_hand_image": "camera2"}'
+```
+
+## Policy inputs and outputs
+
+**Observations (after `LiberoProcessorStep`):**
+
+- `observation.state` — 8-dim proprioceptive vector: `[eef_pos(3), eef_axis_angle(3), gripper_qpos(2)]`
+- `observation.images.<name>` — camera image(s), flipped 180° to match VLA convention
+
+**Actions:**
+
+- `Box(-1, 1, shape=(7,))` — 6D end-effector delta + 1D gripper
+
+## Dataset
+
+A LeRobot-format training dataset for LIBERO-plus is available at:
+
+- [pepijn223/libero_plus_lerobot](https://huggingface.co/datasets/pepijn223/libero_plus_lerobot)
+
+### Example training command
+
+```bash
+lerobot-train \
+    --policy.type=smolvla \
+    --policy.repo_id=${HF_USER}/smolvla_libero_plus \
+    --policy.load_vlm_weights=true \
+    --dataset.repo_id=pepijn223/libero_plus_lerobot \
+    --env.type=libero_plus \
+    --env.task=libero_spatial \
+    --output_dir=./outputs/ \
+    --steps=100000 \
+    --batch_size=4 \
+    --eval.batch_size=1 \
+    --eval.n_episodes=1 \
+    --eval_freq=1000
+```
+
+## Relationship to LIBERO
+
+LIBERO-plus is a drop-in extension of LIBERO:
+
+- Same Python gym interface (`LiberoEnv`, `LiberoProcessorStep`)
+- Same camera names and observation/action format
+- Same task suite names
+- Installs under the same `libero` Python package name (different GitHub repo)
+- The only code difference in LeRobot is a try/except import fallback in `libero.py` that handles the slightly different package nesting in LIBERO-plus
+
+To use the original LIBERO benchmark, see [LIBERO](./libero) and use `--env.type=libero`.

pyproject.toml

@@ -205,6 +205,12 @@ video_benchmark = ["scikit-image>=0.23.2,<0.26.0", "pandas>=2.2.2,<2.4.0"]
 aloha = ["lerobot[dataset]", "gym-aloha>=0.1.2,<0.2.0", "lerobot[scipy-dep]"]
 pusht = ["lerobot[dataset]", "gym-pusht>=0.1.5,<0.2.0", "pymunk>=6.6.0,<7.0.0"] # TODO: Fix pymunk version in gym-pusht instead
 libero = ["lerobot[dataset]", "lerobot[transformers-dep]", "hf-libero>=0.1.3,<0.2.0; sys_platform == 'linux'", "lerobot[scipy-dep]"]
+libero_plus = [
+    "lerobot[dataset]",
+    "lerobot[transformers-dep]",
+    "libero @ git+https://github.com/sylvestf/LIBERO-plus.git@main ; sys_platform == 'linux'",
+    "lerobot[scipy-dep]",
+]
 metaworld = ["lerobot[dataset]", "metaworld==3.0.0", "lerobot[scipy-dep]"]
 
 # All

src/lerobot/envs/configs.py

@@ -574,3 +574,26 @@ class IsaaclabArenaEnv(HubEnvConfig):
             ),
             PolicyProcessorPipeline(steps=[]),
         )
+
+
+@EnvConfig.register_subclass("libero_plus")
+@dataclass
+class LiberoPlusEnv(LiberoEnv):
+    """Config for LIBERO-plus robustness benchmark evaluation.
+
+    LIBERO-plus extends LIBERO with 7 perturbation dimensions (camera viewpoints,
+    object layouts, robot initial states, language instructions, lighting, background
+    textures, sensor noise) producing ~10k task variants.
+
+    The gym interface is identical to LIBERO so this class reuses ``LiberoEnv``
+    entirely — only the registered name and default task suite differ.
+
+    Install::
+
+        pip install -e ".[libero_plus]"
+
+    See Also:
+        https://github.com/sylvestf/LIBERO-plus
+    """
+
+    task: str = "libero_spatial"

uv.lock

@@ -1,5 +1,5 @@
 version = 1
-revision = 2
+revision = 3
 requires-python = ">=3.12"
 resolution-markers = [
     "python_full_version >= '3.14' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'",
@@ -829,7 +829,7 @@ name = "cuda-bindings"
 version = "12.9.4"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "cuda-pathfinder", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
+    { name = "cuda-pathfinder", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/a9/c1/dabe88f52c3e3760d861401bb994df08f672ec893b8f7592dc91626adcf3/cuda_bindings-12.9.4-cp312-cp312-manylinux_2_24_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:fda147a344e8eaeca0c6ff113d2851ffca8f7dfc0a6c932374ee5c47caa649c8", size = 12151019, upload-time = "2025-10-21T14:51:43.167Z" },
@@ -916,7 +916,7 @@ name = "decord"
 version = "0.6.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l') or sys_platform != 'linux'" },
+    { name = "numpy", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x') or (platform_machine != 's390x' and sys_platform != 'linux')" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/11/79/936af42edf90a7bd4e41a6cac89c913d4b47fa48a26b042d5129a9242ee3/decord-0.6.0-py3-none-manylinux2010_x86_64.whl", hash = "sha256:51997f20be8958e23b7c4061ba45d0efcd86bffd5fe81c695d0befee0d442976", size = 13602299, upload-time = "2021-06-14T21:30:55.486Z" },
@@ -2415,6 +2415,17 @@ libero = [
     { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux') or (platform_machine != 'x86_64' and sys_platform == 'darwin') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" },
     { name = "transformers" },
 ]
+libero-plus = [
+    { name = "av" },
+    { name = "datasets" },
+    { name = "jsonlines" },
+    { name = "libero", marker = "sys_platform == 'linux'" },
+    { name = "pandas" },
+    { name = "pyarrow" },
+    { name = "scipy" },
+    { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux') or (platform_machine != 'x86_64' and sys_platform == 'darwin') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" },
+    { name = "transformers" },
+]
 matplotlib-dep = [
     { name = "contourpy" },
     { name = "matplotlib" },
@@ -2584,6 +2595,7 @@ requires-dist = [
     { name = "lerobot", extras = ["dataset"], marker = "extra == 'core-scripts'" },
     { name = "lerobot", extras = ["dataset"], marker = "extra == 'dataset-viz'" },
     { name = "lerobot", extras = ["dataset"], marker = "extra == 'libero'" },
+    { name = "lerobot", extras = ["dataset"], marker = "extra == 'libero-plus'" },
     { name = "lerobot", extras = ["dataset"], marker = "extra == 'metaworld'" },
     { name = "lerobot", extras = ["dataset"], marker = "extra == 'pusht'" },
     { name = "lerobot", extras = ["dataset"], marker = "extra == 'training'" },
@@ -2633,6 +2645,7 @@ requires-dist = [
     { name = "lerobot", extras = ["sarm"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["scipy-dep"], marker = "extra == 'aloha'" },
     { name = "lerobot", extras = ["scipy-dep"], marker = "extra == 'libero'" },
+    { name = "lerobot", extras = ["scipy-dep"], marker = "extra == 'libero-plus'" },
     { name = "lerobot", extras = ["scipy-dep"], marker = "extra == 'metaworld'" },
     { name = "lerobot", extras = ["scipy-dep"], marker = "extra == 'phone'" },
     { name = "lerobot", extras = ["scipy-dep"], marker = "extra == 'pi'" },
@@ -2643,6 +2656,7 @@ requires-dist = [
     { name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'groot'" },
     { name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'hilserl'" },
     { name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'libero'" },
+    { name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'libero-plus'" },
     { name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'multi-task-dit'" },
     { name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'peft'" },
     { name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'pi'" },
@@ -2656,6 +2670,7 @@ requires-dist = [
     { name = "lerobot", extras = ["viz"], marker = "extra == 'dataset-viz'" },
     { name = "lerobot", extras = ["wallx"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["xvla"], marker = "extra == 'all'" },
+    { name = "libero", marker = "sys_platform == 'linux' and extra == 'libero-plus'", git = "https://github.com/sylvestf/LIBERO-plus.git?rev=main" },
     { name = "matplotlib", marker = "extra == 'matplotlib-dep'", specifier = ">=3.10.3,<4.0.0" },
     { name = "meshcat", marker = "extra == 'unitree-g1'", specifier = ">=0.3.0,<0.4.0" },
     { name = "metaworld", marker = "extra == 'metaworld'", specifier = "==3.0.0" },
@@ -2710,7 +2725,12 @@ requires-dist = [
     { name = "transformers", marker = "extra == 'transformers-dep'", specifier = "==5.3.0" },
     { name = "wandb", marker = "extra == 'training'", specifier = ">=0.24.0,<0.25.0" },
 ]
-provides-extras = ["dataset", "training", "hardware", "viz", "core-scripts", "evaluation", "dataset-viz", "av-dep", "pygame-dep", "placo-dep", "transformers-dep", "grpcio-dep", "can-dep", "peft-dep", "scipy-dep", "diffusers-dep", "qwen-vl-utils-dep", "matplotlib-dep", "feetech", "dynamixel", "damiao", "robstride", "openarms", "gamepad", "hopejr", "lekiwi", "unitree-g1", "reachy2", "kinematics", "intelrealsense", "phone", "diffusion", "wallx", "pi", "smolvla", "multi-task-dit", "groot", "sarm", "xvla", "hilserl", "async", "peft", "dev", "test", "video-benchmark", "aloha", "pusht", "libero", "metaworld", "all"]
+provides-extras = ["dataset", "training", "hardware", "viz", "core-scripts", "evaluation", "dataset-viz", "av-dep", "pygame-dep", "placo-dep", "transformers-dep", "grpcio-dep", "can-dep", "peft-dep", "scipy-dep", "diffusers-dep", "qwen-vl-utils-dep", "matplotlib-dep", "feetech", "dynamixel", "damiao", "robstride", "openarms", "gamepad", "hopejr", "lekiwi", "unitree-g1", "reachy2", "kinematics", "intelrealsense", "phone", "diffusion", "wallx", "pi", "smolvla", "multi-task-dit", "groot", "sarm", "xvla", "hilserl", "async", "peft", "dev", "test", "video-benchmark", "aloha", "pusht", "libero", "libero-plus", "metaworld", "all"]
+
+[[package]]
+name = "libero"
+version = "0.1.0"
+source = { git = "https://github.com/sylvestf/LIBERO-plus.git?rev=main#4976dc30028e805ff8094b55501d532c48fec182" }
 
 [[package]]
 name = "librt"
@@ -3495,7 +3515,7 @@ name = "nvidia-cudnn-cu12"
 version = "9.10.2.21"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "nvidia-cublas-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
+    { name = "nvidia-cublas-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
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@@ -3506,7 +3526,7 @@ name = "nvidia-cufft-cu12"
 version = "11.3.3.83"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
+    { name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
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@@ -3533,9 +3553,9 @@ name = "nvidia-cusolver-cu12"
 version = "11.7.3.90"
 source = { registry = "https://pypi.org/simple" }
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-    { name = "nvidia-cublas-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
+    { name = "nvidia-cublas-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
-    { name = "nvidia-cusparse-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
+    { name = "nvidia-cusparse-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
-    { name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
+    { name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
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@@ -3546,7 +3566,7 @@ name = "nvidia-cusparse-cu12"
 version = "12.5.8.93"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
+    { name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
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@@ -4367,10 +4387,10 @@ name = "pyobjc-framework-applicationservices"
 version = "12.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyobjc-core", marker = "sys_platform != 'emscripten' and sys_platform != 'linux'" },
+    { name = "pyobjc-core", marker = "(platform_machine != 's390x' and sys_platform == 'win32') or (sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')" },
-    { name = "pyobjc-framework-cocoa", marker = "sys_platform != 'emscripten' and sys_platform != 'linux'" },
+    { name = "pyobjc-framework-cocoa", marker = "(platform_machine != 's390x' and sys_platform == 'win32') or (sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')" },
-    { name = "pyobjc-framework-coretext", marker = "sys_platform != 'emscripten' and sys_platform != 'linux'" },
+    { name = "pyobjc-framework-coretext", marker = "(platform_machine != 's390x' and sys_platform == 'win32') or (sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')" },
-    { name = "pyobjc-framework-quartz", marker = "sys_platform != 'emscripten' and sys_platform != 'linux'" },
+    { name = "pyobjc-framework-quartz", marker = "(platform_machine != 's390x' and sys_platform == 'win32') or (sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')" },
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@@ -4386,7 +4406,7 @@ name = "pyobjc-framework-cocoa"
 version = "12.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyobjc-core", marker = "sys_platform != 'emscripten' and sys_platform != 'linux'" },
+    { name = "pyobjc-core", marker = "(platform_machine != 's390x' and sys_platform == 'win32') or (sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')" },
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@@ -4402,9 +4422,9 @@ name = "pyobjc-framework-coretext"
 version = "12.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyobjc-core", marker = "sys_platform != 'emscripten' and sys_platform != 'linux'" },
+    { name = "pyobjc-core", marker = "(platform_machine != 's390x' and sys_platform == 'win32') or (sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')" },
-    { name = "pyobjc-framework-cocoa", marker = "sys_platform != 'emscripten' and sys_platform != 'linux'" },
+    { name = "pyobjc-framework-cocoa", marker = "(platform_machine != 's390x' and sys_platform == 'win32') or (sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')" },
-    { name = "pyobjc-framework-quartz", marker = "sys_platform != 'emscripten' and sys_platform != 'linux'" },
+    { name = "pyobjc-framework-quartz", marker = "(platform_machine != 's390x' and sys_platform == 'win32') or (sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')" },
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@@ -4420,8 +4440,8 @@ name = "pyobjc-framework-quartz"
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 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pyobjc-core", marker = "sys_platform != 'emscripten' and sys_platform != 'linux'" },
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-    { name = "pyobjc-framework-cocoa", marker = "sys_platform != 'emscripten' and sys_platform != 'linux'" },
+    { name = "pyobjc-framework-cocoa", marker = "(platform_machine != 's390x' and sys_platform == 'win32') or (sys_platform != 'emscripten' and sys_platform != 'linux' and sys_platform != 'win32')" },
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