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license: other
tags:
- robotics
- vision-language-action
- memory
- imprint
---
# IMPRINT Models
This repository contains the public model checkpoints for IMPRINT.
## Layout
| Path | Benchmark | Memory encoder |
| --- | --- | --- |
| `simulation/rmbench/full_attention/` | RMBench | Full attention |
| `simulation/rmbench/recurrent/` | RMBench | Recurrent gated delta |
| `simulation/rmbench/pi0/` | RMBench | Full attention + native Pi0 |
| `simulation/rmbench/molmoact2/` | RMBench | Full attention + MolmoAct2 |
| `simulation/robocasa/full_attention/` | Customized RoboCasa | Full attention |
| `simulation/robocasa/recurrent/` | Customized RoboCasa | Recurrent gated delta |
The Pi0.5 directories preserve the files from their original release
repositories. The MolmoAct2 directory contains a model-only conversion of the
paper checkpoint. Optimizer, dataloader, scheduler, and trainer state are
omitted. See
`release_manifest.json` for immutable provenance, file counts, byte counts,
and checksums.
Code, configuration, and evaluation instructions are published in the
`Amazon-FAR/imprint` GitHub repository.
The checkpoints remain subject to their applicable upstream model licenses
and terms, including Gemma/PaliGemma where used. The repository metadata does
not relicense upstream weights.
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