LIBERO Benchmark Evaluation Results

Performance Table

Summary Statistics

Maximum Performance by Task:

• libero_goal: 0.974 (at 50k, 60k, 70k steps)
• libero_object: 0.998 (at 50k steps)
• libero_spatial: 0.992 (at 100k steps)
• libero_10: 0.960 (at 100k steps)
• Average: 0.975 (at 100k steps)

Minimum Performance by Task:

• libero_goal: 0.752 (at 10k steps)
• libero_object: 0.850 (at 10k steps)
• libero_spatial: 0.896 (at 10k steps)
• libero_10: 0.460 (at 10k steps)
• Average: 0.740 (at 10k steps)

Performance Trends

Training Progress:

1. Early Stage (10k-20k steps): Rapid improvement from 74.0% to 82.7% average
2. Mid Stage (30k-40k steps): High performance achieved (94.4%-95.7% average)
3. Late Stage (50k+ steps): Stable performance with small fluctuations (96.4%-97.5% average)

Task Difficulty Ranking (by final scores):

1. libero_object: 98.6% (easiest)
2. libero_spatial: 99.2% (easiest)
3. libero_goal: 96.2% (moderate)
4. libero_10: 96.0% (most challenging)

Optimal Checkpoints:

• Best Overall: 100,000 steps (97.5% average)
• Best Balanced: 80,000 steps (97.4% average, slightly faster training)
• Efficient Choice: 50,000 steps (97.1% average, 50% less training time)