LIBERO
Canonical Summary
Lifelong manipulation benchmark with 130 language-conditioned tasks in Spatial, Object, Goal, and 100-task suites.
Lead Organization
Bo Liu, Yuke Zhu, Peter Stone et al.
Key Technical Metric
130 tasks; 4 suites
Maturity / Status
Public benchmark
Governance / License
Open benchmark
Technical Specifications
Task count 130 language-conditioned manipulation tasks
Suites LIBERO-Spatial, LIBERO-Object, LIBERO-Goal, LIBERO-100
Controlled suites Spatial, Object, and Goal have 10 tasks each
LIBERO-100 split 90 short-horizon tasks and 10 long-horizon tasks
Demonstrations Human-teleoperated data for all 130 tasks
Verification: verified · Retrieved: 2026-10-19 ·
Primary Source Reference