---
pretty_name: LIBERO-Plus custom
tags:
- robotics
- libero
- novel-view-synthesis
---

# LIBERO-Plus_custom

Custom multi-view dataset used to finetune the LVSM novel view synthesis model.
We compose our own custom simulation scenes using assets from
[LIBERO-plus](https://github.com/sylvestf/LIBERO-plus) (an extension of the
[LIBERO](https://github.com/Lifelong-Robot-Learning/LIBERO) benchmark) and render each scene from multiple viewpoints.
Built for
**AnyCamVLA: Zero-Shot Camera Adaptation for Viewpoint Robust Vision-Language-Action Models** (IROS 2026).

The resulting LVSM checkpoint is available at [heo0224/AnyCamVLA-LVSM](https://huggingface.co/heo0224/AnyCamVLA-LVSM).

## Contents

- `LIBERO-Plus_custom.zip` (~5.3 GB) — multi-view RGB renderings with camera parameters from LIBERO scenes.

## Usage

```bash
hf download heo0224/LIBERO-Plus_custom LIBERO-Plus_custom.zip --repo-type dataset --local-dir .
unzip LIBERO-Plus_custom.zip
```

## License

This dataset consists of our own multi-view renderings of custom scenes composed from
[LIBERO-plus](https://github.com/sylvestf/LIBERO-plus) assets
(LIBERO-plus extends the [LIBERO](https://github.com/Lifelong-Robot-Learning/LIBERO) benchmark, MIT License).
LIBERO-plus does not currently declare an explicit license; use of the underlying assets should follow the terms
of the upstream LIBERO-plus repository.

## Links

- Code: https://github.com/heo0224/AnyCamVLA
- Paper: https://arxiv.org/abs/2603.05868
- Project page: https://heo0224.github.io/AnyCamVLA/
- LIBERO-plus: https://github.com/sylvestf/LIBERO-plus