| --- |
| pretty_name: RobotAgentBench simulation assets |
| license: other |
| license_name: robotagentbench-asset-terms |
| license_link: LICENSE.md |
| viewer: false |
| tags: |
| - robotics |
| - embodied-ai |
| - simulation |
| - benchmark |
| --- |
| |
| # RobotAgentBench simulation assets |
|
|
| Version 0.1.7 supplies simulation assets, initial-state resources and the full |
| Context Reasoning question banks and standard answers for RobotAgentBench. |
| Evaluation code: https://github.com/AetherLabsAI/RobotAgentBench/tree/main. |
|
|
| The benchmark covers 18 short tasks, 8 long tasks, Task Discovery, Context |
| Reasoning, Failure Recovery, Robustness, and four OpenEnd household scenarios. |
| Isaac Sim and native SDK dependencies are installed separately. |
|
|
| ## Shared asset release 0.1.1 |
|
|
| Use this asset release with saved configuration bank **0.2.1**. It includes |
| the shared OpenEnd room layout, drawer-reference layer, and resource bindings. |
| The 18 original archive parts are unchanged; two additional archives total |
| approximately **27.5 MB**. The complete download is approximately **4.57 GB** |
| across 20 archives. Update the evaluator and reuse verified downloads when |
| upgrading, but install into fresh asset and |
| runtime directories. Earlier asset and configuration releases remain available. |
|
|
| ## Shared asset release 0.1.2 |
|
|
| Use this release with the current evaluator and saved configuration bank 0.2.1. |
| It adds the original shelf scene-preparation dependencies and complete fridge |
| interior resources. The two supplements total approximately 7.3 MB; all earlier |
| archives are reused unchanged. Python helper sources and their notices ship in |
| the code repository; native third-party payloads retain their original licenses. |
| Use fresh asset/runtime directories and reuse verified cached downloads. |
|
|
| ## Shared asset release 0.1.3 |
|
|
| This release includes the original scene-preparation metadata for waste-selection |
| and table-tidying tasks. The supplement is approximately 438 KB; all 22 earlier |
| archives are reused unchanged. The complete download is approximately **4.58 GB** |
| across **23 archives**, including the license archive. Use fresh asset/runtime |
| directories and reuse verified cached downloads. |
|
|
| ## Shared asset release 0.1.4 |
|
|
| This release completes shared room resources for saved Failure Recovery configurations. |
| The room bases are stored once; configuration records contain lossless scene |
| patches that reconstruct the saved room state. All 23 earlier archive parts |
| are reused unchanged. The complete asset download is approximately **6.66 GB** |
| across **30 archives**. Use fresh asset and runtime directories and reuse |
| verified cached downloads. |
|
|
| ## Shared asset release 0.1.5 |
|
|
| This release includes all **50 original room layouts** and their runtime |
| dependencies. Layouts, meshes, textures, and shared resources are stored |
| once and reused across saved configurations. Original file hashes are |
| preserved; scoring, physics, and saved initial states are unchanged. |
| The complete download is approximately **7.04 GB** |
| across **31 archives**. All 30 earlier archives are |
| reused unchanged. Update the evaluator, reuse verified cached downloads, |
| and install into fresh asset and runtime directories. Use configuration |
| bank **0.2.5** with this release. |
|
|
| ## Shared asset release 0.1.6 |
|
|
| Use this release with saved configuration bank **0.2.6**. It adds one compact, |
| lossless shared scene-reconstruction dependency for the new Sofa recovery |
| configuration. The supplement is approximately **515 KB**; all 31 earlier |
| archives, all 50 room layouts, and third-party notices remain unchanged. |
| The complete asset download is approximately **7.04 GB** across **32 archives**. |
| Reuse verified downloads and install into fresh asset/runtime directories. |
|
|
| ## Shared asset release 0.1.7 |
|
|
| Use this release with saved configuration bank **0.2.17**. It adds one compact, |
| lossless reconstruction dependency for the new Sofa recovery configuration. |
| The supplement is approximately **516 KB**; all 32 earlier archive parts, |
| all 50 room layouts, and third-party notices remain unchanged. The complete |
| download remains approximately **7.04 GB**, across **33 archives**. Reuse |
| verified downloads and use fresh asset/runtime directories. |
|
|
| ## Install |
|
|
| Install the evaluator from its code repository, then use its versioned manifest: |
|
|
| ```sh |
| robotagentbench assets fetch resources/assets-0.1.7.json --cache downloads |
| robotagentbench assets install resources/assets-0.1.7.json --cache downloads --destination Assets |
| robotagentbench assets configure resources/assets-0.1.7.json --destination Assets --runtime Runtime --profile room |
| ``` |
|
|
| For offline installation, copy all release archive parts into `downloads`. |
| Do not concatenate them. The installer verifies archive and member hashes. |
| Use separate fresh runtime directories for `room`, `atomic_coffee`, |
| `failure_recovery`, and `cloth` profiles. Standard answers are evaluator data; |
| they are not part of the agent observation interface. |
|
|
| ## Saved initial configurations |
|
|
| The separate configuration release contains **1,470 saved initial configurations**: |
| 30 for each of 49 task or scenario groups. These are release configurations for |
| reproducible evaluation, not the exact instances used for the paper's reported |
| results. Each record retains its saved seed and initial state. |
|
|
| Configuration release **0.2.17** contains 30 saved configurations for each |
| of the four OpenEnd scenarios. Household memory and the high-level request |
| are accompanied by **Today's situation**, covering weather, trip timing, |
| confirmed plans, and personal preferences. |
|
|
| Stains, empty containers, used packaging, object locations, and cleanliness |
| must be discovered from camera observations, not disclosed in the daily context. |
| Variants that differ only in visible state use the same public text. The six |
| context/scene variants per scenario each have five spatial initial states; |
| they are not thirty distinct stories. |
|
|
| Version 0.2.6 updates three saved initial states using original-rule seeded |
| replacements that passed native initial admission: lighting episode 4, |
| combined coffee disturbance episode 5, and sofa recovery episode 2. The |
| other 1,467 states, public contexts, task definitions, scoring rules, and |
| physical parameters are unchanged from 0.2.5; its two earlier replacements |
| are retained. Earlier versions remain available. |
| Version 0.2.7 updates two further saved initial states: coffee-bag disturbance |
| episode 6 and combined coffee disturbance episode 6. Both replacements passed |
| their original native initial admission. The other 1,468 states are unchanged |
| from 0.2.6; public contexts, task definitions, scoring, and physical parameters |
| are unchanged. Shared assets remain at version 0.1.6. |
|
|
| Version 0.2.8 updates three further saved initial states: combined coffee |
| disturbance episode 7, button-lighting episode 8, and sofa recovery episode 3. |
| Each replacement passed its original native initial admission. The other |
| 1,467 states are unchanged from 0.2.7; public contexts, task definitions, |
| scoring, and physical parameters are unchanged. It uses shared assets 0.1.7. |
|
|
| Version 0.2.9 updates nine further saved initial states: table-waste clearing |
| episode 23; microwave heating and retrieval episodes 14, 17, and 28; |
| dinner preparation episode 3; and long tasks 17/26, 19/21, 21/19, and 22/25 |
| (task/episode). Each replacement passed its original native initial admission. |
| The other 1,461 states are unchanged from 0.2.8; public contexts, task definitions, |
| scoring, and physical parameters are unchanged. Shared assets remain at 0.1.7. |
|
|
| Version 0.2.10 updates three further saved initial states: preparing to leave |
| (OpenEnd) episode 2, and button-lighting episodes 13 and 18. Each replacement |
| passed its original native initial admission. The other 1,467 states are |
| unchanged from 0.2.9; public contexts, task definitions, scoring, and physical |
| parameters are unchanged. Shared assets remain at 0.1.7. |
|
|
| Version 0.2.11 updates eight further saved initial states: four Task Discovery |
| instances and four OpenEnd instances. Each replacement passed its original |
| native initial admission. The other 1,462 states are unchanged from 0.2.10; |
| public contexts, task definitions, scoring, and physical parameters are |
| unchanged. Shared assets remain at 0.1.7. |
|
|
| Version 0.2.12 updates four further saved initial states: two Task Discovery |
| instances, one OpenEnd tidying instance, and one coffee-machine displacement |
| instance. Each replacement passed its original native initial admission. |
| The other 1,466 states are unchanged from 0.2.11; public contexts, task |
| definitions, scoring, and physical parameters are unchanged. Shared assets |
| remain at 0.1.7. |
|
|
| Version 0.2.13 updates two further saved initial states: coffee-machine |
| displacement episode 4 and button-lighting episode 21. Each replacement |
| passed its original native initial admission. The other 1,468 states are |
| unchanged from 0.2.12; public contexts, task definitions, scoring, and physical |
| parameters are unchanged. Shared assets remain at 0.1.7. |
|
|
| Version 0.2.15 updates three further saved initial states using the original |
| sampling and admission rules: combined coffee disturbance (episode 21, seed 204), |
| coffee-button lighting (episode 14, seed 73), and sofa Failure Recovery |
| (episode 19, seed 94). The other 1,467 saved states and shared assets 0.1.7 are |
| unchanged. Use RobotAgentBench source commit |
| `f86a908d709fb94dcfc970be8c5da93305be9968` or later, which supports the nested |
| saved-scene dependencies in this bank. These public configurations differ from |
| the paper's evaluation instances. |
|
|
| Version 0.2.14 updates fourteen further saved initial states: ten coffee |
| interference variants and four OpenEnd episode configurations. Each replacement passed |
| its original native initial admission. The other 1,456 states are unchanged |
| from 0.2.13; public contexts, task definitions, scoring, and physical parameters |
| are unchanged. Shared assets remain at 0.1.7. |
|
|
| Version 0.2.16 updates two further sofa Failure Recovery initial states: |
| episode 8 (seed 96) and episode 30 (seed 110). Both replacements passed their |
| original native initial admission and the evaluator's saved-state restoration. |
| The other 1,468 saved states, public contexts, task definitions, scoring rules, |
| physical parameters, and shared assets 0.1.7 are unchanged. Use RobotAgentBench |
| source commit `f86a908d709fb94dcfc970be8c5da93305be9968` or later. These |
| public configurations differ from the paper's evaluation instances. |
|
|
| Version 0.2.17 updates six further saved initial states using the original |
| sampling and admission rules: microwave heating and retrieval (episode 11, |
| seed 34), Task Discovery dinner (episode 17, seed 131), sofa Failure Recovery |
| (episode 6, seed 83), coffee preparation (episode 27, seed 39), bread preparation |
| (episode 6, seed 31), and meal-tray carrying (episode 6, seed 31). All six |
| replacements passed task-owned native initial admission and saved-state |
| restoration/readonly verification. The other 1,464 state records and shared |
| assets 0.1.7 are unchanged. All 1,470 saved initial states have passed their |
| original task-owned admission checks; this does not claim completed robot |
| tasks or model success. Use evaluator commit |
| `e8448f732572cacf330554c3620d6f25341be81f` or later for lossless external |
| saved-scene attributes. Historical releases remain available. |
|
|
| Task-owned attachments, original spawn receipts, and lossless room patches |
| reconstruct the saved configurations. Room meshes and textures remain in |
| the shared asset download. |
| The configuration download is approximately **260 MB**, split into seven archives. |
|
|
| Earlier releases remain available under `saved-instances/0.1.0/` and |
| `saved-instances/0.2.0/`, `saved-instances/0.2.1/`, `saved-instances/0.2.2/`, and |
| `saved-instances/0.2.3/`, `saved-instances/0.2.4/`, `saved-instances/0.2.5/`, `saved-instances/0.2.6/`, and `saved-instances/0.2.7/`, and `saved-instances/0.2.8/`, and `saved-instances/0.2.9/`, and `saved-instances/0.2.10/`, and `saved-instances/0.2.11/`, and `saved-instances/0.2.12/`, and `saved-instances/0.2.13/`, and `saved-instances/0.2.14/`, and `saved-instances/0.2.15/`, and `saved-instances/0.2.16/`. Install 0.2.17 into a new directory when upgrading. |
|
|
| Install the shared assets once. Configurations store task parameters, poses, |
| robot initialization, required cloth-state arrays, and compact lossless scene |
| patches; they do not duplicate complete room geometry and textures for every episode. |
|
|
| ```sh |
| python -m robotagentbench.simulation.saved_instance_release.download \ |
| --manifest resources/saved-instances-0.2.17.json \ |
| --cache downloads/configurations --destination /absolute/path/to/SavedConfigurations |
| ``` |
|
|
| See the [configuration guide](https://github.com/AetherLabsAI/RobotAgentBench/blob/main/docs/INSTANCES.md) |
| for selection and restoration, and the repository's InternVLA and Codex examples |
| for connecting an agent. The fine-tuned InternVLA model is available at |
| [AetherLabs-AI/InternVLA-A1.5-RAB](https://huggingface.co/AetherLabs-AI/InternVLA-A1.5-RAB). |
|
|
| ## Licenses |
|
|
| Team-authored materials use CC BY 4.0. Third-party resources retain their own |
| terms, including CC BY-NC-SA 4.0 for the AgiBot GenieSim robot resources. |
| See [LICENSE.md](LICENSE.md), [NOTICE.md](NOTICE.md), and `LICENSES/`. |
| The license archive is included in the installer manifest so these notices |
| accompany automatic asset downloads. The code's Apache-2.0 license does not |
| relicense simulation assets or third-party materials. |
|
|
