metadata
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.