Attribution and license scope
Phoenix-RoboCasa is a modified policy derived from Wan2.2-TI2V-5B through Phoenix Robot37 pretraining (step 110000) and RoboCasa post-training (step 45000). Its release checkpoint also changes the Joint96 metadata schema to the Phoenix name; the schema migration does not change inference tensors.
The Wan Team's upstream model is distributed under Apache License 2.0. A copy is included in LICENSES/Apache-2.0.txt. Upstream source and model terms: Wan-AI/Wan2.2-TI2V-5B. This notice preserves the upstream license and records the modifications; it does not assign an additional license to Phoenix-owned weight contributions.
NVIDIA dataset attribution
The source of the task/episode metadata and language instructions is NVIDIA GEAR's PhysicalAI-Robotics-GR00T-Teleop-Sim, whose dataset card identifies the creation date as June 1, 2025 and the license as Creative Commons Attribution-NonCommercial 4.0 International. The license text is included in LICENSES/CC-BY-NC-4.0.txt.
This release extracts metadata for 24 tasks and 24000 episodes from an existing LeRobot conversion and packages normalization/protocol records, episode membership and 186 cached T5 text features for evaluation. These are extracted or derived support artifacts; the release does not include the original videos or Parquet data. The source metadata used during packaging were preserved from the local conversion. This statement does not claim that all support artifacts are unmodified copies of the upstream dataset.
Redistributed NVIDIA material remains subject to CC BY-NC 4.0, including attribution and the NonCommercial restriction. No broader commercial rights are granted for the accompanying data-derived support artifacts. The material is offered as-is and as-available, without warranties, as set out in Section 5 of that license. NVIDIA GEAR does not sponsor or endorse this release.
Other components
RoboCasa is acknowledged as the evaluation environment: RoboCasa. The 186 cached text features were produced using the Wan T5 text encoder; T5 weights are not included. The public Wan VAE, T5 and tokenizer dependencies retain their upstream terms and are obtained separately.
The separately distributed Phoenix-Encoders repository contains the required DINO/CSVAE encoders and their notices. Historical absolute paths in the support package are provenance records, not public resource locations.
Phoenix-MWA's code license is not a blanket license for model weights or dataset-derived artifacts. This notice does not independently determine or expand the license of Phoenix-owned policy weight contributions, and it does not replace the upstream dataset's non-commercial conditions.