---
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.