Add simulation artifacts (2/2)

.gitattributes

@@ -59,3 +59,22 @@ simulation/rmbench/recurrent/stage2/step-100000/params/ocdbt.process_0/d/b732753
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simulation/robocasa/full_attention/stage2/step-150000/params/array_metadatas/process_0

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+Gemma Terms of Use 
+
+Last modified: February 21, 2024
+
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+
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+1.1 Definitions
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simulation/robocasa/recurrent/NOTICE

@@ -0,0 +1,11 @@
+IMPRINT
+Copyright 2026
+
+This distribution contains modifications to the OpenPI project:
+https://github.com/Physical-Intelligence/openpi
+
+OpenPI is distributed under the Apache License 2.0. Gemma components and
+derivatives are subject to the Gemma Terms of Use in LICENSE_GEMMA.txt.
+
+Gemma is provided under and subject to the Gemma Terms of Use found at
+ai.google.dev/gemma/terms.

simulation/robocasa/recurrent/README.md

@@ -0,0 +1,38 @@
+---
+license: gemma
+library_name: jax
+tags:
+  - robotics
+  - vision-language-action
+  - memory
+  - robocasa
+  - dinov3
+  - recurrent
+---
+
+# IMPRINT RoboCasa Recurrent Checkpoint
+
+Canonical Pi0.5 IMPRINT checkpoint for the customized 12-task RoboCasa
+benchmark using the recurrent gated-delta memory encoder.
+
+- Stage 1: trained 180,000 updates, selected at 160,000, W&B `far-wandb/Robocasa/ag6ytzrm`
+- Stage 2: 150,000 updates, W&B `far-wandb/Robocasa/1ozs9qy8`
+- memory tokens: 256 x 1024
+- policy horizon: 20
+- training scan: chunkwise WY
+- inference update: incremental recurrent
+- Stage 2: memory encoder finetuned; image tower frozen
+
+The Stage-2 model-level auxiliary weight was zero. The archived history YAML
+retains a legacy `aux_weight: 0.25` preload flag, which caused auxiliary
+targets to be read but did not contribute an auxiliary loss.
+
+Use `yilin-wu/imprint-robocasa-600` for training and
+`yilin-wu/imprint-robocasa-environment` for the exact patched RoboCasa 1.0.1
+simulator source. This release contains the complete Stage-2 Orbax parameter
+checkpoint, including the PaliGemma/Gemma backbone. It is a Gemma model
+derivative and is distributed subject to the included Gemma Terms of Use.
+Large simulator assets are not duplicated.
+
+The matching training store, patched simulator source, and reproducibility
+code are publicly available under the IMPRINT release.

simulation/robocasa/recurrent/SHA256SUMS

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+3e2c24001f9ef57bf7ec959a3658fbb49cdad113cdf394c264da9d16f9bdd132  ./LICENSE_GEMMA.txt
+5b21d7116ac42a0ab6141488cb654c2411557ac977e2276accb88ef774f28c19  ./NOTICE
+1c4d7719baef48359e81dc02e729ec9361c51acf5ba3bd788f21dcd3268b5277  ./README.md
+3f5ee9416db5224d6effaea03e799540023817301a0ba2677922a31709216b1d  ./config/history_config.yaml
+4143882de7d4e41230b03bd95a7001745139f6a757e64b4db3afa2857ec5b9e7  ./config/input_provenance.json
+39a8f9a475d18c9167a3872c7679a348b81a165776fe3e16c391f354c7ad8514  ./config/norm_stats.json
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+fe7ad82eeb9e1096c90f433a50fb4b2fabe000779a6d14bfe8ee317f6aea9c72  ./stage2/step-150000/_CHECKPOINT_METADATA
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+8b3d3995e3aef785f5244dae3e6588ddf1f0386876778f95303b68f3b41d71ef  ./stage2/step-150000/params/ocdbt.process_0/d/62a2c855e8bf17ca63d6be7a948a943f
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simulation/robocasa/recurrent/config/history_config.yaml

@@ -0,0 +1,89 @@
+budget: 256
+num_views: 3
+streaming_obs_horizon: 16
+integration_type: modulation
+memory_token_dim: 1024
+representation_type: cosmo_bottleneck
+memory_feature:
+  img:
+    net: identity
+    input_dim: 768
+  pos:
+    input_dim: 768
+    hidden_dim: 768
+  state:
+    input_dim: 16
+    hidden_dim: 512
+cosmo_bottleneck_memory:
+  memory_encoder_type: gated_delta_hybrid
+  memory_architecture_version: gated_delta_hybrid_v1
+  memory_compute_dtype: bfloat16
+  visual_feature_stream: dinov3
+  latent_source: offline
+  n_variants: 8
+  num_query_samples: 16
+  variant: Wan2.2-TI2V-5B
+  temporal_factor: 4
+  downsample: 2
+  num_latents: 256
+  num_heads: 8
+  cosmos_latent_dim: 48
+  siglip_dim: 768
+  proprio_in_dim: 16
+  proprio_encoding: raw
+  action_in_dim: 12
+  action_encoding: raw
+  lang_emb_dim: 2048
+  action_tokenizer_hidden: 512
+  proprio_tokenizer_hidden: 512
+  pool_hw: 2
+  wan_h: 256
+  wan_w: 256
+  latent_cap: 4096
+  latent_buckets:
+    - 256
+    - 512
+    - 1024
+    - 2048
+    - 4096
+  max_recent_tokens: 768
+  max_step_tokens: 1776
+  max_stream_steps: 1776
+  delta_num_layers: 2
+  delta_num_heads: 8
+  delta_head_dim: 128
+  delta_conv_kernel: 4
+  delta_ffn_inner: 2048
+  delta_decay_bias: -4.0
+  delta_beta_bias: -1.0
+  delta_scan_checkpoint_size: 20
+  delta_full_scan_mode: chunkwise_wy
+  delta_wy_matmul_dtype: bfloat16
+  delta_recent_fusion_blocks: 1
+  delta_max_chunks: 384
+  delta_event_order: action_proprio_then_finalized_visual_v1
+cosmo_decoder:
+  num_heads: 8
+  num_blocks: 2
+  align_dim: 768
+  align_num_patches: 192
+  ffn_inner: 8192
+  action_dim: 12
+  proprio_dim: 16
+  max_query_steps: 2048
+frame_jitter:
+  enabled: false
+  start_jitter: 3
+  stride_choices:
+    - 1
+    - 2
+    - 3
+  interval_jitter: 1
+  canonical_downsample: 2
+stream_aug:
+  enabled: false
+  gauss_sigma: 0.05
+  stream_drop_p: 0.1
+  feat_drop_p: 0.0
+aux_weight: 0.25
+action_horizon: 20

simulation/robocasa/recurrent/config/input_provenance.json

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+{
+  "action_causality": "strictly_causal",
+  "architecture": "gated_delta_hybrid_v1",
+  "base_policy": "pi0.5",
+  "checkpoint_metadata_sha256": "fe7ad82eeb9e1096c90f433a50fb4b2fabe000779a6d14bfe8ee317f6aea9c72",
+  "checkpoint_path": "stage2/step-150000",
+  "checkpoint_step": 150000,
+  "dataset": "yilin-wu/imprint-robocasa-600",
+  "eval_consolidate_all": 1,
+  "execution_horizon": 20,
+  "freeze_variant": "image_only",
+  "latent_cap": 4096,
+  "legacy_history_aux_preload_flag": 0.25,
+  "max_recent_tokens": 768,
+  "max_step_tokens": 1776,
+  "memory_inference_mode": "incremental_recurrent",
+  "memory_language_source": "live",
+  "memory_training_scan": "chunkwise_wy",
+  "num_latents": 256,
+  "prediction_horizon": 20,
+  "stage1_checkpoint": "stage1/stage1_step160000.npz",
+  "stage1_sha256": "7567aca14012be88045a10203432c7117c128b4b1455718143c429cea8155fc1",
+  "stage1_wandb_run": "far-wandb/Robocasa/ag6ytzrm",
+  "stage2_auxiliary_loss_weight": 0.0,
+  "stage2_memory_encoder": "finetuned",
+  "stage2_wandb_run": "far-wandb/Robocasa/1ozs9qy8",
+  "visual_feature_stream": "dinov3"
+}

simulation/robocasa/recurrent/config/norm_stats.json

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simulation/robocasa/recurrent/stage1/stage1_step160000.npz

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simulation/robocasa/recurrent/stage2/step-150000/_CHECKPOINT_METADATA

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simulation/robocasa/recurrent/stage2/step-150000/assets/robomme/norm_stats.json

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simulation/robocasa/recurrent/stage2/step-150000/params/array_metadatas/process_0

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