LIBERO-Para

Normalizer

LIBERO-Para — metrics, requirements, and run commands.

Last updated: Jul 11, 2026

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About Metrics Task YAML Primary Environment setup Runtime environment Evaluation data Checkpoints & assets Key environment variables Verify setup Run Evaluation Set Candidate Artifacts Import Official Results Score Generated Artifacts Direct In-Tree Runner Requirements Inputs Environment Outputs

About

LIBERO-Paraphrase tests whether VLA policies generalize when task language is paraphrased.

Metrics

LIBERO-Para external benchmark task manifest for paraphrased language-conditioned robot manipulation evaluation.

Task YAML

worldfoundry/data/benchmarks/tasks/external/libero-para.yaml

Primary

success_rate

Metric	Focus
`success_rate`	Share of episodes or tasks that complete successfully.
`paraphrase_success_rate`	Share of episodes or tasks that complete successfully.
`language_generalization_success`	Share of episodes or tasks that complete successfully.
`task_success`	Share of episodes or tasks that complete successfully.
`action_accuracy`	Correctness of predicted actions, states, or outcomes against the benchmark success criterion.

Environment setup

Runtime environment

Conda env: giga-world-policy-py311.
Separate setup: defaults to the unified WorldFoundry env (needs_new_env: false); a benchmark-only conda env is usually not required.
LIBERO-Para is tracked as an embodied benchmark, not a model runner; WorldFoundry normalizes official-shaped result exports only.
Full official status requires the cau-hai-lab/LIBERO-Para runtime, HAI-Lab/LIBERO-Para data, policy checkpoint, and paraphrase split mapping.

Evaluation data

Candidate model outputs: set WORLDFOUNDRY_LIBERO_PARA_RESULTS_PATH to the generated-video or rollout artifact root.
${WORLDFOUNDRY_HFD_DATASET_ROOT}/HAI-Lab__LIBERO-Para
${WORLDFOUNDRY_CACHE_DIR}/repos/cau-hai-lab--LIBERO-Para

Checkpoints & assets

Base-model / metric dependencies: libero_para_source_assets, libero_para_dataset_assets.
Default metric-checkpoint paths and override env vars are listed in the local assets guide.

Key environment variables

WORLDFOUNDRY_LIBERO_PARA_ROOT
WORLDFOUNDRY_LIBERO_PARA_RESULTS_PATH
WORLDFOUNDRY_LIBERO_PARA_DATASET_ROOT

Verify setup

PYTHONPATH=${WORLDFOUNDRY_CACHE_DIR}/repos/cau-hai-lab--LIBERO-Para:src ${WORLDFOUNDRY_CONDA_ENVS_ROOT}/worldfoundry-giga-world-policy-py311/bin/python -m worldfoundry.evaluation.tasks.execution.orchestration.runtime_preflight --profile libero-para --manifest worldfoundry/data/benchmarks/runtime_profiles/official/libero-para.yaml --output-dir tmp/worldfoundry_preflight/libero-para --json

Run Evaluation

After preparing the assets and candidate artifacts listed on this page, use the public run entry points below.

Set Candidate Artifacts

export WORLDFOUNDRY_GENERATED_ARTIFACT_DIR=/path/to/generated/artifacts

Import Official Results

worldfoundry-eval zoo benchmark-run \
  --benchmark-id libero-para \
  --mode normalizer \
  --official-results-path /path/to/official/results-or-report \
  --generated-artifact-dir "${WORLDFOUNDRY_GENERATED_ARTIFACT_DIR}" \
  --output-dir tmp/libero-para/normalizer \
  --json

Score Generated Artifacts

worldfoundry-eval zoo benchmark-run \
  --benchmark-id libero-para \
  --mode official-run \
  --generated-artifact-dir "${WORLDFOUNDRY_GENERATED_ARTIFACT_DIR}" \
  --output-dir tmp/libero-para/official-run \
  --json

Direct In-Tree Runner

worldfoundry-eval zoo benchmark-run --benchmark-id libero-para --mode official-validation --official-results-path <official_results.json> --output-dir <out> --json

Requirements

Inputs

Official LIBERO-Para repository checkout
HAI-Lab/LIBERO-Para dataset root
Policy checkpoint for selected upstream eval script
Official result dump from metrics/analyze_results.py or equivalent structured export

Environment

WORLDFOUNDRY_LIBERO_PARA_RESULTS_PATH

Outputs

scorecard.json
benchmark_contract.json
raw_metric_table.jsonl
raw_results.jsonl

← Benchmark Hub

LIBERO-Para

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