Robo Use

lifelong-robot-learning/libero

LIBERO's four standard suites on a Franka Panda.

bench eval run \
  -d lifelong-robot-learning/libero@0.2 \
  --registry https://robouse.ai/hub/registry.json \
  --agent oracle
About this dataset
Embodiment
Franka Panda
Simulator
LIBERO (robosuite 1.4)
Requirements
CPU only · 4.0 GB image · 4 GB memory · bench >=0.7.4,<0.8
Licence
Task packages Apache-2.0; adapted from LIBERO by Lifelong Robot Learning, MIT
@misc{robouse_lifelong_robot_learning_libero_0_2,
  title        = {Robo Use lifelong-robot-learning/libero 0.2},
  author       = {{BenchFlow}},
  year         = {2026},
  howpublished = {\url{https://robouse.ai/hub/lifelong-robot-learning/libero/}},
  note         = {BenchFlow dataset, tag lifelong-robot-learning/libero-v0.2, commit bcd0d002b9df; adapted from LIBERO (Lifelong Robot Learning)}
}

40 tasks

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Each task is a package in the task format, pinned to robohub commit bcd0d002b9df. The verifier and the reference solution are not published.

Full leaderboard

Agent harnesses

Rank#Model · harnessSolve rateSolvedTasks run
1GPT-6 Astra · Codex 75% 15 of 20 20 of 40
2GLM-5.3 · Claude Code 63% 12 of 19 20 of 40 · 1 infra
3Kimi K3 · Claude Code 60% 12 of 20 20 of 40
4Kimi K3 · mini-swe-agent 60% 12 of 20 20 of 40
5GLM-5.3 · mini-swe-agent 50% 9 of 18 20 of 40 · 2 infra
6GLM-5.3 · Codex 32% 6 of 19 20 of 40 · 1 infra
Ran fewer of these tasks, not ranked
Opus 5.5 · Claude Code no scored trial 4 of 40 · 4 stopped

VLA policies

Rank#Model · harnessSolve rateSolvedTasks run
1EVO1-LIBERO · VLA 100% 40 of 40 40 of 40
2GR00T N1.7-LIBERO · VLA 95% 38 of 40 40 of 40
3VLA-JEPA-LIBERO · VLA 95% 38 of 40 40 of 40
4pi0.5-LIBERO · VLA 95% 38 of 40 40 of 40
5pi0.5-LIBERO (LeRobot) · VLA 92% 37 of 40 40 of 40
6pi0-LIBERO · VLA 90% 36 of 40 40 of 40
7pi0-FAST-LIBERO (LeRobot) · VLA 82% 32 of 39 39 of 40
8pi0-LIBERO (LeRobot) · VLA 75% 30 of 40 40 of 40
9SmolVLA-LIBERO · VLA 65% 26 of 40 40 of 40
Ran fewer of these tasks, not ranked
MolmoAct2-LIBERO · VLA 100% 20 of 20 20 of 40

Per task

✓ solved ✗ not solved ! infrastructure failure ‖ stopped, not scored · not run

TaskGPT-6 Astra · CodexGLM-5.3 · Claude CodeKimi K3 · Claude CodeKimi K3 · mini-swe-agentGLM-5.3 · mini-swe-agentGLM-5.3 · CodexOpus 5.5 · Claude CodeEVO1-LIBERO · VLAGR00T N1.7-LIBERO · VLAVLA-JEPA-LIBERO · VLApi0.5-LIBERO · VLApi0.5-LIBERO (LeRobot) · VLApi0-LIBERO · VLApi0-FAST-LIBERO (LeRobot) · VLApi0-LIBERO (LeRobot) · VLASmolVLA-LIBERO · VLAMolmoAct2-LIBERO · VLA
Put both the alphabet soup and the tomato sauce in the basketlibero-10-0✓ Solved✓ Solved✗ Not solved✓ Solved✓ Solved✗ Not solved‖ Stopped before it finished, not scored✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved✓ Solved
Put both the cream cheese box and the butter in the basketlibero-10-1·······✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved·
Turn on the stove and put the moka pot on itlibero-10-2✓ Solved✗ Not solved✗ Not solved✗ Not solved✗ Not solved✗ Not solved‖ Stopped before it finished, not scored✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved✓ Solved✓ Solved✓ Solved
Put the black bowl in the bottom drawer of the cabinet and close itlibero-10-3·······✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved·
Put the white mug on the left plate and put the yellow and white mug on the right platelibero-10-4✓ Solved✓ Solved✓ Solved✗ Not solved✗ Not solved✓ Solved‖ Stopped before it finished, not scored✓ Solved✗ Not solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved✗ Not solved✓ Solved
Pick up the book and place it in the back compartment of the caddylibero-10-5·······✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved✓ Solved✗ Not solved·
Put the white mug on the plate and put the chocolate pudding to the right of the platelibero-10-6✓ Solved✓ Solved✓ Solved✗ Not solved✗ Not solved✗ Not solved‖ Stopped before it finished, not scored✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved✓ Solved
Put both the alphabet soup and the cream cheese box in the basketlibero-10-7·······✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved✗ Not solved·
Put both moka pots on the stovelibero-10-8✗ Not solved✗ Not solved✗ Not solved✗ Not solved! Infrastructure failure✗ Not solved·✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved✗ Not solved✗ Not solved✗ Not solved✗ Not solved✓ Solved
Put the yellow and white mug in the microwave and close itlibero-10-9·······✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved✓ Solved✗ Not solved·
Open the middle drawer of the cabinetlibero-goal-0✓ Solved✗ Not solved✗ Not solved✗ Not solved✗ Not solved✗ Not solved·✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved
Put the bowl on the stovelibero-goal-1·······✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved·
Put the wine bottle on top of the cabinetlibero-goal-2✗ Not solved✗ Not solved✗ Not solved✗ Not solved! Infrastructure failure✗ Not solved·✓ Solved✓ Solved✗ Not solved✗ Not solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved✓ Solved
Open the top drawer and put the bowl insidelibero-goal-3·······✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved·
Put the bowl on top of the cabinetlibero-goal-4✗ Not solved✓ Solved✓ Solved✓ Solved✗ Not solved✗ Not solved·✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved
Push the plate to the front of the stovelibero-goal-5·······✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved✓ Solved✓ Solved✓ Solved✓ Solved·
Put the cream cheese in the bowllibero-goal-6✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved·✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved✗ Not solved✓ Solved
Turn on the stovelibero-goal-7·······✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved·
Put the bowl on the platelibero-goal-8✗ Not solved✗ Not solved✓ Solved✓ Solved✓ Solved! Infrastructure failure·✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved✓ Solved✓ Solved✗ Not solved✓ Solved✓ Solved
Put the wine bottle on the racklibero-goal-9·······✓ Solved✗ Not solved✓ Solved✓ Solved✓ Solved✗ Not solved✓ Solved✗ Not solved✓ Solved·
Pick up the alphabet soup and place it in the basketlibero-object-0✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved·✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved·✓ Solved✓ Solved✓ Solved
Pick up the cream cheese and place it in the basketlibero-object-1·······✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved·
Pick up the salad dressing and place it in the basketlibero-object-2✓ Solved✓ Solved✗ Not solved✓ Solved✗ Not solved✓ Solved·✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved
Pick up the bbq sauce and place it in the basketlibero-object-3·······✓ Solved✓ Solved✓ Solved✗ Not solved✓ Solved✓ Solved✗ Not solved✓ Solved✓ Solved·
Pick up the ketchup and place it in the basketlibero-object-4✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved·✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved
Pick up the tomato sauce and place it in the basketlibero-object-5·······✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved✓ Solved✓ Solved✓ Solved·
Pick up the butter and place it in the basketlibero-object-6✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved·✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved
Pick up the milk and place it in the basketlibero-object-7·······✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved·
Pick up the chocolate pudding and place it in the basketlibero-object-8✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved·✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved
Pick up the orange juice and place it in the basketlibero-object-9·······✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved·
Pick up the black bowl between the plate and the ramekin and place it on the platelibero-spatial-0✓ Solved! Infrastructure failure✓ Solved✓ Solved✗ Not solved✗ Not solved·✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved✓ Solved✓ Solved
Pick up the black bowl next to the ramekin and place it on the platelibero-spatial-1·······✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved✓ Solved✗ Not solved·
Pick up the black bowl from table center and place it on the platelibero-spatial-2✓ Solved✓ Solved✗ Not solved✓ Solved✗ Not solved✓ Solved·✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved
Pick up the black bowl on the cookie box and place it on the platelibero-spatial-3·······✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved·
Pick up the black bowl in the top drawer of the wooden cabinet and place it on the platelibero-spatial-4✗ Not solved✗ Not solved✗ Not solved✗ Not solved✗ Not solved✗ Not solved·✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved✓ Solved
Pick up the black bowl on the ramekin and place it on the platelibero-spatial-5·······✓ Solved✓ Solved✗ Not solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved✗ Not solved·
Pick up the black bowl next to the cookie box and place it on the platelibero-spatial-6✓ Solved✗ Not solved✓ Solved✗ Not solved✓ Solved✓ Solved·✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved
Pick up the black bowl on the stove and place it on the platelibero-spatial-7·······✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved✓ Solved✗ Not solved✓ Solved·
Pick up the black bowl next to the plate and place it on the platelibero-spatial-8✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved·✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved✓ Solved✗ Not solved✓ Solved
Pick up the black bowl on the wooden cabinet and place it on the platelibero-spatial-9·······✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✓ Solved✗ Not solved✓ Solved·