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examples/libero/README.md

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+# LIBERO Benchmark
+
+This example runs the LIBERO benchmark: https://github.com/Lifelong-Robot-Learning/LIBERO
+
+Note: When updating requirements.txt in this directory, there is an additional flag `--extra-index-url https://download.pytorch.org/whl/cu113` that must be added to the `uv pip compile` command.
+
+## With Docker
+
+```bash
+# Grant access to the X11 server:
+sudo xhost +local:docker
+
+export SERVER_ARGS="--env LIBERO"
+docker compose -f examples/libero/compose.yml up --build
+```
+
+## Without Docker
+
+Terminal window 1:
+
+```bash
+# Create virtual environment
+uv venv --python 3.8 examples/libero/.venv
+source examples/libero/.venv/bin/activate
+uv pip sync examples/libero/requirements.txt third_party/libero/requirements.txt --extra-index-url https://download.pytorch.org/whl/cu113 --index-strategy=unsafe-best-match
+uv pip install -e packages/openpi-client
+uv pip install -e third_party/libero
+export PYTHONPATH=$PYTHONPATH:$PWD/third_party/libero
+
+# Run the simulation
+python examples/libero/main.py
+```
+
+Terminal window 2:
+
+```bash
+# Run the server
+uv run scripts/serve_policy.py --env LIBERO
+```