feat(envs): add LIBERO-plus integration for evaluation benchmarks

Add LiberoPlusEnv config (subclass of LiberoEnv), register libero_plus
env type in factory, add import fallbacks for LIBERO-plus package
structure, and add libero_plus optional dependency group in pyproject.toml.

Made-with: Cursor

pyproject.toml

@@ -175,6 +175,11 @@ video_benchmark = ["scikit-image>=0.23.2,<0.26.0", "pandas>=2.2.2,<2.4.0"]
 aloha = ["gym-aloha>=0.1.2,<0.2.0", "lerobot[scipy-dep]"]
 pusht = ["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[transformers-dep]", "hf-libero>=0.1.3,<0.2.0; sys_platform == 'linux'", "lerobot[scipy-dep]"]
+libero_plus = [
+    "lerobot[transformers-dep]",
+    "libero @ git+https://github.com/sylvestf/LIBERO-plus.git@main ; sys_platform == 'linux'",
+    "lerobot[scipy-dep]",
+]
 metaworld = ["metaworld==3.0.0", "lerobot[scipy-dep]"]
 
 # All

src/lerobot/envs/configs.py

@@ -346,6 +346,19 @@ class LiberoEnv(EnvConfig):
         return kwargs
 
 
+@EnvConfig.register_subclass("libero_plus")
+@dataclass
+class LiberoPlusEnv(LiberoEnv):
+    """Alias config for LIBERO-plus benchmarks.
+
+    LIBERO-plus keeps the same Python package/module names as LIBERO, so this
+    config reuses the existing LIBERO env implementation while making intent explicit
+    in experiment configs (`env.type=libero_plus`).
+    """
+
+    task: str = "libero_spatial"
+
+
 @EnvConfig.register_subclass("robocasa")
 @dataclass
 class RoboCasaEnv(EnvConfig):

src/lerobot/envs/factory.py

@@ -20,7 +20,16 @@ import gymnasium as gym
 from gymnasium.envs.registration import registry as gym_registry
 
 from lerobot.configs.policies import PreTrainedConfig
-from lerobot.envs.configs import AlohaEnv, EnvConfig, HubEnvConfig, IsaaclabArenaEnv, LiberoEnv, PushtEnv, RoboCasaEnv
+from lerobot.envs.configs import (
+    AlohaEnv,
+    EnvConfig,
+    HubEnvConfig,
+    IsaaclabArenaEnv,
+    LiberoEnv,
+    LiberoPlusEnv,
+    PushtEnv,
+    RoboCasaEnv,
+)
 from lerobot.envs.utils import _call_make_env, _download_hub_file, _import_hub_module, _normalize_hub_result
 from lerobot.policies.xvla.configuration_xvla import XVLAConfig
 from lerobot.processor import ProcessorStep
@@ -35,6 +44,8 @@ def make_env_config(env_type: str, **kwargs) -> EnvConfig:
         return PushtEnv(**kwargs)
     elif env_type == "libero":
         return LiberoEnv(**kwargs)
+    elif env_type == "libero_plus":
+        return LiberoPlusEnv(**kwargs)
     elif env_type == "robocasa":
         return RoboCasaEnv(**kwargs)
     else:
@@ -72,7 +83,7 @@ def make_env_pre_post_processors(
         return make_xvla_libero_pre_post_processors()
 
     # For LIBERO environments, add the LiberoProcessorStep to preprocessor
-    if isinstance(env_cfg, LiberoEnv) or "libero" in env_cfg.type:
+    if isinstance(env_cfg, (LiberoEnv, LiberoPlusEnv)) or "libero" in env_cfg.type:
         preprocessor_steps.append(LiberoProcessorStep())
 
     # For RoboCasa environments, add the RoboCasaProcessorStep to preprocessor

src/lerobot/envs/libero.py

@@ -26,8 +26,14 @@ import gymnasium as gym
 import numpy as np
 import torch
 from gymnasium import spaces
-from libero.libero import benchmark, get_libero_path
-from libero.libero.envs import OffScreenRenderEnv
+
+try:
+    from libero.libero import benchmark, get_libero_path
+    from libero.libero.envs import OffScreenRenderEnv
+except ImportError:
+    # LIBERO-plus may be installed from source with an extra nested package level.
+    from libero.libero.libero import benchmark, get_libero_path
+    from libero.libero.libero.envs import OffScreenRenderEnv
 
 from lerobot.processor import RobotObservation