Distillative-AI
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@@ -736,3 +736,110 @@ jobs:
           name: robomme-metrics
           path: /tmp/robomme-artifacts/metrics.json
           if-no-files-found: warn
+
+  # ── LIBERO-plus ───────────────────────────────────────────────────────────
+  # Isolated image: LIBERO-plus fork cloned into /home/user_lerobot on top of
+  # huggingface/lerobot-gpu (see docker/Dockerfile.benchmark.libero_plus).
+  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 }}
+      LIBERO_PLUS_SUITE: libero_spatial
+      LIBERO_PLUS_POLICY: lerobot/smolvla_libero_plus
+      LIBERO_PLUS_TASK_IDS: "[0,100,260,500,1000,1500,2000,2400]"
+
+    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: Login to Docker Hub
+        if: ${{ env.DOCKERHUB_USERNAME != '' }}
+        uses: docker/login-action@v3 # zizmor: ignore[unpinned-uses]
+        with:
+          username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
+        env:
+          DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
+
+      - name: Build LIBERO-plus benchmark image
+        uses: docker/build-push-action@v6 # zizmor: ignore[unpinned-uses]
+        with:
+          context: .
+          file: docker/Dockerfile.benchmark.libero_plus
+          push: false
+          load: true
+          tags: lerobot-benchmark-libero-plus:ci
+          cache-from: type=local,src=/tmp/.buildx-cache-libero-plus
+          cache-to: type=local,dest=/tmp/.buildx-cache-libero-plus,mode=max
+
+      - name: Run LIBERO-plus smoke eval (1 episode)
+        if: env.HF_USER_TOKEN != ''
+        run: |
+          docker run --name libero-plus-eval --gpus all \
+            --shm-size=4g \
+            -e HF_HOME=/tmp/hf \
+            -e HF_USER_TOKEN="${HF_USER_TOKEN}" \
+            -e HF_HUB_DOWNLOAD_TIMEOUT=300 \
+            -e LIBERO_PLUS_SUITE="${LIBERO_PLUS_SUITE}" \
+            -e LIBERO_PLUS_POLICY="${LIBERO_PLUS_POLICY}" \
+            -e LIBERO_PLUS_TASK_IDS="${LIBERO_PLUS_TASK_IDS}" \
+            lerobot-benchmark-libero-plus:ci \
+            bash -c "
+              hf auth login --token \"\$HF_USER_TOKEN\" --add-to-git-credential 2>/dev/null || true
+              lerobot-eval \
+                --policy.path=\"\$LIBERO_PLUS_POLICY\" \
+                --env.type=libero_plus \
+                --env.task=\"\$LIBERO_PLUS_SUITE\" \
+                --env.task_ids=\"\$LIBERO_PLUS_TASK_IDS\" \
+                --eval.batch_size=1 \
+                --eval.n_episodes=1 \
+                --eval.use_async_envs=false \
+                --policy.device=cuda \
+                '--env.camera_name_mapping={\"agentview_image\": \"camera1\", \"robot0_eye_in_hand_image\": \"camera2\"}' \
+                --policy.empty_cameras=1 \
+                --output_dir=/tmp/eval-artifacts
+              python scripts/ci/extract_task_descriptions.py \
+                --env libero_plus --task \"\$LIBERO_PLUS_SUITE\" \
+                --output /tmp/eval-artifacts/task_descriptions.json
+            "
+
+      - name: Copy LIBERO-plus artifacts from container
+        if: always()
+        run: |
+          mkdir -p /tmp/libero-plus-artifacts
+          docker cp libero-plus-eval:/tmp/eval-artifacts/. /tmp/libero-plus-artifacts/ 2>/dev/null || true
+          docker rm -f libero-plus-eval || true
+
+      - name: Parse LIBERO-plus eval metrics
+        if: always()
+        run: |
+          python3 scripts/ci/parse_eval_metrics.py \
+            --artifacts-dir /tmp/libero-plus-artifacts \
+            --env libero_plus \
+            --task "${LIBERO_PLUS_SUITE}" \
+            --policy "${LIBERO_PLUS_POLICY}"
+
+      - name: Upload LIBERO-plus rollout video
+        if: always()
+        uses: actions/upload-artifact@v4 # zizmor: ignore[unpinned-uses]
+        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 # zizmor: ignore[unpinned-uses]
+        with:
+          name: libero-plus-metrics
+          path: /tmp/libero-plus-artifacts/metrics.json
+          if-no-files-found: warn
@@ -0,0 +1,84 @@
+# Copyright 2026 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.
+
+# Benchmark image for LIBERO-plus integration tests.
+# Extends the nightly GPU image (which has lerobot[all]) with the LIBERO-plus
+# fork source + its 6.4 GB perturbation assets.
+#
+# 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 ...
+
+FROM huggingface/lerobot-gpu:latest
+ENV MUJOCO_GL=egl
+
+# unzip for the 6.4 GB assets.zip; the rest are LIBERO-plus build-time extras
+# (wand / ImageMagick / fontconfig) not in the nightly base.
+USER root
+RUN apt-get update \
+    && apt-get install -y --no-install-recommends \
+         unzip libexpat1 libfontconfig1-dev libmagickwand-dev \
+    && apt-get clean && rm -rf /var/lib/apt/lists/*
+USER user_lerobot
+
+# robosuite==1.4.1 is mandatory (the fork uses `single_arm_env` removed in
+# v1.5+). The rest are LIBERO-plus runtime deps pulled from its setup.py.
+# We install these explicitly instead of via the [libero_plus] extra because
+# the extra's `libero @ git+...` dep installs as a namespace package and then
+# clone and PYTHONPATH-override it below.
+RUN uv pip install --no-cache \
+        "robosuite==1.4.1" \
+        "bddl==1.0.1" \
+        "easydict==1.13" \
+        "mujoco==3.7.0" \
+        "matplotlib==3.10.8" \
+        "Wand==0.6.13" \
+        "scikit-image==0.25.2" \
+        "gym==0.26.2"
+
+# Clone LIBERO-plus and make it importable as `libero`. The nightly base has
+# hf-libero (10 tasks) preinstalled via lerobot[libero]; uninstall it so
+# Python resolves `import libero` to the 2402-task LIBERO-plus module instead.
+# Pinned to the current upstream main SHA so benchmark builds stay reproducible.
+ARG LIBERO_PLUS_SHA=4976dc3
+ENV LIBERO_PLUS_ROOT=/home/user_lerobot/libero-plus/libero/libero
+RUN git clone https://github.com/sylvestf/LIBERO-plus.git /home/user_lerobot/libero-plus \
+    && git -C /home/user_lerobot/libero-plus checkout ${LIBERO_PLUS_SHA} \
+    && cd /home/user_lerobot/libero-plus && uv pip install --no-cache --no-deps -e "." \
+    && (uv pip uninstall hf-libero 2>/dev/null || true)
+ENV PYTHONPATH="/home/user_lerobot/libero-plus:${PYTHONPATH}"
+
+# Perturbation textures/scenes: bddl_base_domain.py resolves XMLs via
+# DIR_PATH/../assets (package-relative, ignoring ~/.libero/config.yaml). All
+# 2402 tasks reference files that ship only in Sylvest/LIBERO-plus's
+# assets.zip (6.4 GB) under a deep author-internal prefix — extract and
+# flatten it under ${LIBERO_PLUS_ROOT}/assets.
+RUN python -c "\
+from huggingface_hub import hf_hub_download; \
+hf_hub_download(repo_id='Sylvest/LIBERO-plus', repo_type='dataset', \
+                filename='assets.zip', local_dir='/tmp/libero-plus-dl')" \
+    && unzip -q /tmp/libero-plus-dl/assets.zip -d /tmp/libero-plus-dl/extract \
+    && ASSETS_DIR=$(find /tmp/libero-plus-dl/extract -type d -name assets | head -1) \
+    && mv "${ASSETS_DIR}" ${LIBERO_PLUS_ROOT}/assets \
+    && rm -rf /tmp/libero-plus-dl
+
+# Point ~/.libero/config.yaml at the clone so LIBERO-plus's imports are
+# non-interactive (it calls input() when the config is missing).
+RUN mkdir -p /home/user_lerobot/.libero \
+    && printf "assets: ${LIBERO_PLUS_ROOT}/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
+
+# Overlay the PR's source code on top of the nightly image.
+COPY --chown=user_lerobot:user_lerobot . .
+
+CMD ["/bin/bash"]
@@ -77,6 +77,8 @@
     title: Adding a New Benchmark
   - local: libero
     title: LIBERO
+  - local: libero_plus
+    title: LIBERO-plus
   - local: metaworld
     title: Meta-World
   - local: robotwin
 
@@ -0,0 +1,188 @@
+# 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: [In-depth Robustness Analysis of Vision-Language-Action Models](https://arxiv.org/abs/2510.13626)
+- GitHub: [sylvestf/LIBERO-plus](https://github.com/sylvestf/LIBERO-plus)
+- Dataset: [lerobot/libero_plus](https://huggingface.co/datasets/lerobot/libero_plus)
+
+![An overview of the LIBERO-plus benchmark perturbation dimensions](https://github.com/sylvestf/LIBERO-plus/raw/main/static/images/libero-plus.jpg)
+
+## 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 | Description                                        |
+| -------------- | ---------------- | ----- | --------- | -------------------------------------------------- |
+| LIBERO-Spatial | `libero_spatial` | 10    | 280       | Tasks requiring reasoning about spatial relations  |
+| LIBERO-Object  | `libero_object`  | 10    | 280       | Tasks centered on manipulating different objects   |
+| LIBERO-Goal    | `libero_goal`    | 10    | 300       | Goal-conditioned tasks with changing targets       |
+| LIBERO-90      | `libero_90`      | 90    | 400       | Short-horizon tasks from the LIBERO-100 collection |
+| LIBERO-Long    | `libero_10`      | 10    | 520       | Long-horizon tasks from the LIBERO-100 collection  |
+
+<Tip warning={true}>
+  Installing LIBERO-plus **replaces** vanilla LIBERO — it uninstalls `hf-libero`
+  so that `import libero` resolves to the LIBERO-plus fork. You cannot have both
+  installed at the same time. To switch back to vanilla LIBERO, uninstall the
+  fork and reinstall with `pip install -e ".[libero]"`.
+</Tip>
+
+## Installation
+
+### System dependencies (Linux only)
+
+```bash
+sudo apt install libexpat1 libfontconfig1-dev libmagickwand-dev
+```
+
+### Python package
+
+```bash
+pip install -e ".[libero]" "robosuite==1.4.1" bddl easydict mujoco wand scikit-image gym
+git clone https://github.com/sylvestf/LIBERO-plus.git
+cd LIBERO-plus && pip install --no-deps -e .
+pip uninstall -y hf-libero  # so `import libero` resolves to the fork
+```
+
+LIBERO-plus is installed from its GitHub fork rather than a pyproject extra — the fork ships as a namespace package that pip can't handle, so it must be cloned and added to `PYTHONPATH`. See `docker/Dockerfile.benchmark.libero_plus` for the canonical install. MuJoCo is required, so 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
+
+### Default evaluation (recommended)
+
+Evaluate across the four standard suites (10 episodes per task):
+
+```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
+```
+
+### Single-suite evaluation
+
+Evaluate on one LIBERO-plus suite:
+
+```bash
+lerobot-eval \
+  --policy.path="your-policy-id" \
+  --env.type=libero_plus \
+  --env.task=libero_spatial \
+  --eval.batch_size=1 \
+  --eval.n_episodes=10
+```
+
+- `--env.task` picks the suite (`libero_spatial`, `libero_object`, etc.).
+- `--env.task_ids` restricts to specific task indices (`[0]`, `[1,2,3]`, etc.). Omit to run all tasks in the suite.
+- `--eval.batch_size` controls how many environments run in parallel.
+- `--eval.n_episodes` sets how many episodes to run per task.
+
+### Multi-suite evaluation
+
+Benchmark a policy across multiple suites at once by passing a comma-separated list:
+
+```bash
+lerobot-eval \
+  --policy.path="your-policy-id" \
+  --env.type=libero_plus \
+  --env.task=libero_spatial,libero_object \
+  --eval.batch_size=1 \
+  --eval.n_episodes=10
+```
+
+### Control mode
+
+LIBERO-plus supports two control modes — `relative` (default) and `absolute`. Different VLA checkpoints are trained with different action parameterizations, so make sure the mode matches your policy:
+
+```bash
+--env.control_mode=relative   # or "absolute"
+```
+
+### Policy inputs and outputs
+
+**Observations:**
+
+- `observation.state` — 8-dim proprioceptive features (eef position, axis-angle orientation, gripper qpos)
+- `observation.images.image` — main camera view (`agentview_image`), HWC uint8
+- `observation.images.image2` — wrist camera view (`robot0_eye_in_hand_image`), HWC uint8
+
+**Actions:**
+
+- Continuous control in `Box(-1, 1, shape=(7,))` — 6D end-effector delta + 1D gripper
+
+### Recommended evaluation episodes
+
+For reproducible benchmarking, use **10 episodes per task** across all four standard suites (Spatial, Object, Goal, Long). This gives 400 total episodes and matches the protocol used for published results.
+
+## Training
+
+### Dataset
+
+A LeRobot-format training dataset for LIBERO-plus is available at:
+
+- [lerobot/libero_plus](https://huggingface.co/datasets/lerobot/libero_plus)
+
+### 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=lerobot/libero_plus \
+    --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)
+
+To use the original LIBERO benchmark, see [LIBERO](./libero) and use `--env.type=libero`.