| # LIBERO-Plus SIM server |
|
|
| Run a pinned LIBERO-Plus simulator independently of the model/evaluator Python |
| environment. This benchmark owns native tasks, perturbations, observations, |
| actions and success. Policies stay in `AgentPolicies/<profile>`; shared transport and |
| records stay in `harness`. |
|
|
| - [Evaluation protocol and 10,030-variant inventory](EVALUATION_PROTOCOL.md) |
| - [Server parameters](server.example.json) |
| - [Shared server interface and evaluator launch](../SERVER_PROTOCOL.md) |
| - Retired StarVLA model launchers remain in Git history, not the active interface |
|
|
| ## Directory responsibilities |
|
|
| `server.py` is the public factory/launch entrypoint. `bench_server/adapter.py` |
| owns the public sensor/action interface and native score bridge; |
| `bench_server/protocol/catalog.py` and `catalogs/` define the immutable task matrix. |
| Native installation, source pins and catalog-generation tools belong in |
| `environment/`; in particular `native_source_manifest.json` is a runtime pin, |
| not a task catalog. `checks/` contains offline regressions. There is no old root |
| adapter/catalog shim. Relocation preserves catalog bytes and native behavior; |
| operator paths and selected cases stay in the server configuration. |
|
|
| ## Configure a native environment |
|
|
| Use a **separate Python 3.10 environment**; Plus and standard LIBERO both export |
| the `libero` namespace and must not coexist in one running process. Do not change |
| someone else's native checkout, environment or `~/.libero/config.yaml`. |
|
|
| 1. Clone [the official repository](https://github.com/sylvestf/LIBERO-plus) into |
| your own new directory and check out commit |
| `4976dc30028e805ff8094b55501d532c48fec182`. |
| 2. Download `assets.zip` from the |
| [pinned official public release](https://huggingface.co/datasets/Sylvest/LIBERO-plus/tree/dd2bd61b7d9a6fef1abc52d606e983b41886a149). |
| The archive is 6,395,849,578 bytes with SHA-256 |
| `96764a4bfbdaea98d4411598caeab235458318fe0f549611b93d1a323027b3cf`. |
| Use the checked extraction command below: this release retains a long |
| upstream build-path prefix, so a plain unzip into the checkout creates the |
| wrong directory layout. The tool strips only the exact reviewed prefix. |
| It requires a new asset directory and never merges or removes prior data. |
| BDDL and init files come from the pinned source checkout. The ZIP has 457,675 |
| entries and about 9 GB of uncompressed file contents; allow at least 20 GB |
| plus filesystem inode headroom for archive and extracted storage. Training |
| datasets and model weights are not needed. |
| 3. Install native EGL/OpenGL and ImageMagick Wand support. On a compatible |
| Ubuntu NVIDIA server this normally includes `libegl1`, `libgl1`, |
| `libexpat1`, `libfontconfig1`, and `libmagickwand-dev`. Host NVIDIA drivers |
| and a working EGL vendor library are still required; pip alone cannot |
| install the host driver. Use an isolated container/environment when system |
| package changes are inappropriate. |
| 4. In the new Python environment, install Torch `2.5.1+cpu` from the official |
| CPU wheel index, then [runtime-requirements.txt](environment/runtime-requirements.txt), |
| then the pinned native checkout with `pip install --no-deps -e <checkout>`. |
| The native loader relies on Torch's pre-2.6 `torch.load` behavior; silently |
| substituting a newer Torch is not this track. Configure the RSI checkout on |
| `PYTHONPATH` or install RSI editable without replacing native dependencies. |
|
|
| From the RSI source root, with placeholder paths replaced: |
|
|
| ```sh |
| python -B -m benchmarks.simBenchmarks.LIBERO-plus.environment.extract_assets \ |
| --archive /absolute/path/to/downloaded/assets.zip \ |
| --destination /absolute/path/to/LIBERO-plus/libero/libero/assets \ |
| --receipt /absolute/path/to/private-install-records/assets.json |
| python -B -m benchmarks.simBenchmarks.LIBERO-plus.environment.configure \ |
| --upstream /absolute/path/to/LIBERO-plus \ |
| --config-dir /absolute/path/to/libero-plus-runtime-config |
| export LIBERO_CONFIG_PATH=/absolute/path/to/libero-plus-runtime-config |
| export MUJOCO_GL=egl |
| export PYOPENGL_PLATFORM=egl |
| ``` |
|
|
| The extractor validates release identity, paths, entry types, duplicates and |
| expansion bounds before creating the target. Extraction failures preserve the |
| partial directory and do not silently restart. Hundreds of thousands of tiny |
| asset files can be very slow on shared storage; prefer an owned node-local |
| deployment when available. A tmpfs deployment is ephemeral: retain the verified |
| archive and source pin on persistent storage and rebuild after a node restart. |
|
|
| The configuration tool only creates an explicit external path config and refuses |
| to overwrite a different one. Catalog and source-pin verification require no |
| reset, rendering, model, training data or policy API key. |
|
|
| ```sh |
| python -B -m benchmarks.simBenchmarks.LIBERO-plus.environment.verify_environment \ |
| --upstream /absolute/path/to/LIBERO-plus --check-imports |
| ``` |
|
|
| This checks the 60 declared source files, resolved BDDL/reset bytes for all |
| 10,030 variants, required asset-folder presence and native imports. It does not |
| deserialize reset pickles, construct a simulator, validate all asset contents, |
| or prove that EGL renders valid images. |
| Unrecorded Python, compiled extensions and bytecode caches in the executed native |
| package are rejected, including an added outer namespace `__init__.py`. Start |
| with `-B` and a clean owned clone; do not remove caches from someone else's tree. |
|
|
| ## Start a fixed SIM service |
|
|
| Copy `server.example.json` to a private configuration file, replace the native |
| path and preselect the task IDs, seed and budgets before running any model. |
| Set `RSI_SIM_SERVER_TOKEN` using your evaluator's private secret provisioning; |
| never put its value into a policy prompt, tracked JSON or shell argument. |
|
|
| ```sh |
| python -B -m benchmarks.simBenchmarks.LIBERO-plus.server \ |
| --parameters /absolute/path/to/libero-plus-server.json \ |
| --seed 20260907 --episodes 1 --port 8765 \ |
| --output-dir AgentPolicies/<profile>/results/libero_plus/raw/<task-description>/server |
| ``` |
|
|
| The service binds only `127.0.0.1` and initializes no simulator until the trusted |
| evaluator opens/resets the selected session. Use the neutral runner's |
| `--benchmark libero_plus --sim-server http://127.0.0.1:8765` from a separate |
| evaluator environment, following the shared service guide. Cross-node use needs |
| an SSH tunnel, not a publicly exposed server. Every selected session is claimed |
| once, including errors; do not retry a failed control acknowledgment. |
|
|
| ## Validate without interpreting it as a model score |
|
|
| CPU contract checks: |
|
|
| ```sh |
| python -B -m unittest discover \ |
| -s benchmarks/simBenchmarks/LIBERO-plus/checks -p 'test_*.py' |
| ``` |
|
|
| Before capability evaluation, explicitly select a separate fixed-action |
| infrastructure diagnostic through the same SIM service. Retain reset/frame/action |
| receipts and check independent camera views, orientation stability and native |
| control counts. This does not award a model score or authorize repeating a |
| previous capability attempt. Robosuite 1.4's native renderer lifecycle requires |
| particular care after hard resets; a working EGL import is not proof that all |
| post-reset images are valid. No image-repair or renderer monkeypatch is applied |
| silently by this adapter. |
|
|
