fix(libero): use suite's perturbation-aware init_states loader

LIBERO-plus's Benchmark class exposes a `get_task_init_states(i)` method that
strips perturbation suffixes (`_table_N`, `_tb_N`, `_view_`, `_language_`,
`_light_`, `_add_`, `_level`) and loads the underlying base `.pruned_init`
file — the on-disk name for a perturbation variant doesn't exist as a file,
only the base does. lerobot's loader was bypassing that logic and trying to
read the suffix-bearing filename directly, which failed for every non-zero
task id and killed the eval before any rollout video could be written.

Delegate to the suite's method when it exists; fall back to the path-based
loader for vanilla LIBERO (which does not provide the method).

Also drop the hf-libero install + init_files copy from the LIBERO-plus
Dockerfile — the LIBERO-plus clone already ships both `bddl_files/` and
`init_files/` for all five suites, so the copy was unnecessary and the
`cp -r` into an existing dir produced a confusing nested layout.

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

docker/Dockerfile.benchmark.libero_plus

@@ -92,18 +92,10 @@ ENV PYTHONPATH="/home/user_lerobot/libero-plus:${PYTHONPATH}"
 # LIBERO-plus installs with a nested package structure, so find_spec('libero')
 # may return a namespace package without .origin. Use glob to locate bddl_files.
 ENV LIBERO_PLUS_ROOT=/home/user_lerobot/libero-plus/libero/libero
-# Find hf-libero's init_files in site-packages (shallow clone doesn't have them).
-# Copy them into the PYTHONPATH clone so both bddl_files (from clone) and
-# init_files (from pip) are in the same tree.
-RUN uv pip install --no-cache --no-deps "hf-libero>=0.1.3,<0.2.0"
-RUN HF_LIBERO=$(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" ${LIBERO_PLUS_ROOT}/init_files; \
-    fi && \
-    # Uninstall hf-libero so that Python imports LIBERO-plus (from PYTHONPATH)
-    # instead of vanilla hf-libero — LIBERO-plus has 2400+ perturbation tasks per
-    # suite, vanilla has only 10.
-    uv pip uninstall hf-libero 2>/dev/null || true
+# LIBERO-plus's clone already ships both bddl_files/ and init_files/ with base
+# `.pruned_init` files for all 5 suites. Its Benchmark.get_task_init_states()
+# strips perturbation suffixes (_table_N, _tb_N, _view_, _language_, _light_)
+# back to the base filename, so no extra init files are needed.
 RUN mkdir -p /home/user_lerobot/.libero && \
     python${PYTHON_VERSION} -c "\
 from huggingface_hub import snapshot_download; \

src/lerobot/envs/libero.py

@@ -70,6 +70,12 @@ def _select_task_ids(total_tasks: int, task_ids: Iterable[int] | None) -> list[i
 
 
 def get_task_init_states(task_suite: Any, i: int) -> np.ndarray:
+    # LIBERO-plus's Benchmark exposes a suffix-aware loader that maps perturbation
+    # variants (_table_N, _tb_N, _view_, _language_, _light_, _add_, _level) back to
+    # the base init_states file. Vanilla LIBERO has no such method — fall through.
+    suite_loader = getattr(task_suite, "get_task_init_states", None)
+    if callable(suite_loader):
+        return suite_loader(i)
     init_states_path = (
         Path(get_libero_path("init_states"))
         / task_suite.tasks[i].problem_folder