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How to evaluate the agent on LIBERO and its robustness variants with EMERGE Policy

Follow the README evaluation guides to test EMERGE Policy on standard LIBERO, LIBERO-Plus, and LIBERO-Pro.

  • Research
  • Advanced
  • 4 hours
  • From the README
  • Any agent

Who it is forA robotics researcher comparing embodied policies who needs repeatable benchmark numbers across LIBERO suites.

The problemBenchmarks are spread across several suites with separate setup, and robustness suites need extra assets.

The outcomeThe researcher runs the evaluation scripts for the chosen suite and collects results for the EMERGE Policy agent.

What you need first

  • Conda and Python 3.12 for the EmergePolicy environment
  • GPUs assigned by index for the model services (OPENPI_GPU, VGGT_GPU, SAM3_GPU)
  • Downloaded model checkpoints placed under checkpoints/ as listed in the README
  • LIBERO-Plus assets.zip downloaded from Hugging Face and extracted into the submodule
  • API configuration, which the first launch of Web or TUI walks you through

Steps

  1. Set up the repository, the EmergePolicy environment, and the LIBERO-Plus assets as described in the README Installation section.
  2. Download the OpenPI and VGGT checkpoints into checkpoints/ as listed in the Model Checkpoints table.
  3. Open the guide for the suite you need: scripts/Libero_eval/README.md, scripts/LiberoPlus_eval/README.md, or scripts/LiberoPro_eval/README.md.
  4. Start the model services with bash scripts/model_server/start_external_model_servers.sh --services openpi,vggt,sam3 using the GPU variables from the Quick Start. (inferred, check the README)
  5. Follow the suite guide to run the evaluation and save the output.

Prompt for your agent

In the EMERGE-Policy repo, read scripts/LiberoPlus_eval/README.md and run the evaluation it describes for the suite "<suite>". Expected output is an evaluation result file or summary from that suite. Verify that the LIBERO-Plus assets are present under third_party/libero_plus before starting.

Caveat. The README says LIBERO-Pro evaluation still runs on the VLA version only, so the WAM backend cannot be used for that suite.

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