diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..d87f26bdc7450cfa70bac2d83c8bf7686643eba0 --- /dev/null +++ b/README.md @@ -0,0 +1,32 @@ +--- +license: other +tags: + - robotics + - imitation-learning + - memory + - imprint +--- + +# IMPRINT Datasets + +This repository contains the public training stores and simulator environment +assets for IMPRINT. + +## Layout + +| Path | Contents | +| --- | --- | +| `simulation/rmbench/450/` | RMBench 450-episode Stage-1 and Stage-2 stores | +| `simulation/rmbench/molmoact2_eval_assets/` | MolmoAct2 metadata and 450 stored language embeddings | +| `simulation/robocasa/600/` | Customized RoboCasa 600-episode shared store | +| `simulation/robocasa/environment/` | Patched RoboCasa evaluation environment | + +The stores contain precomputed visual features and causal action/state streams +used by the released training configurations. See `release_manifest.json` for +immutable source revisions, file counts, and byte counts. + +Code, configuration, and evaluation instructions are published in the +`Amazon-FAR/imprint` GitHub repository. + +Dataset and simulator assets remain subject to their source terms. Public +release does not relicense third-party simulator assets or upstream features. diff --git a/release_manifest.json b/release_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..eb5ed4ff29044f4c6b05aba1ab59107fdd38cd55 --- /dev/null +++ b/release_manifest.json @@ -0,0 +1,94 @@ +{ + "format_version": 1, + "release": "imprint-v1", + "migration_revisions": { + "datasets": "refs/pr/1", + "models": "refs/pr/1" + }, + "destinations": { + "datasets": { + "repo_id": "Amazon-FAR/imprint_datasets", + "repo_type": "dataset" + }, + "models": { + "repo_id": "Amazon-FAR/imprint_models", + "repo_type": "model" + } + }, + "artifacts": { + "simulation/rmbench/450": { + "source": "yilin-wu/imprint-rmbench-450", + "source_revision": "0875f60a1a0fb79751cde5c502b5e1923a157512", + "files": 350, + "bytes": 411250782303, + "destination": "Amazon-FAR/imprint_datasets" + }, + "simulation/robocasa/600": { + "source": "yilin-wu/imprint-robocasa-600", + "source_revision": 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"ce51086f892028fb5bf669aa3e7debe1b75998cc", + "files": 32, + "bytes": 12291932686, + "destination": "Amazon-FAR/imprint_models" + }, + "simulation/robocasa/recurrent": { + "source": "yilin-wu/imprint-robocasa-recurrent", + "source_revision": "54b23b08dc766db75827defaafe718bb18b40b73", + "files": 29, + "bytes": 12406163068, + "destination": "Amazon-FAR/imprint_models" + }, + "simulation/rmbench/molmoact2": { + "source": "W&B run mit0jkx7, model-only conversion at step 100000", + "source_revision": "mit0jkx7:100000", + "files": 4, + "bytes": 22747370042, + "destination": "Amazon-FAR/imprint_models", + "sha256": { + "checkpoint/model.pt": "ae0dacfcb2a45e82d18266ff5ed49edc26c35c41e038a43065c9a5671773360c", + "checkpoint/config.yaml": "ed4573be786a951ccb3319a090b8443db03acb1a204c827327eb6164ecfb905d" + } + }, + "simulation/rmbench/molmoact2_eval_assets": { + "source": "W&B run mit0jkx7 evaluation metadata and stored language embeddings", + "source_revision": "mit0jkx7:100000", + "files": 454, + "bytes": 3899744, + "destination": "Amazon-FAR/imprint_datasets" + }, + "simulation/rmbench/pi0": { + "source": "W&B run s746sl7k, native Pi0 model-only checkpoint", + "source_revision": "s746sl7k:100000", + "files": 24, + "bytes": 11534442762, + "destination": "Amazon-FAR/imprint_models" + } + } +} diff --git a/simulation/rmbench/450/.gitattributes b/simulation/rmbench/450/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..bed0738c7eeb449bca98b5d2f33c89a1ee56349a --- /dev/null +++ b/simulation/rmbench/450/.gitattributes @@ -0,0 +1,60 @@ +*.7z filter=lfs diff=lfs merge=lfs -text +*.arrow filter=lfs diff=lfs merge=lfs -text +*.avro filter=lfs diff=lfs merge=lfs -text +*.bin filter=lfs diff=lfs merge=lfs -text +*.bz2 filter=lfs diff=lfs merge=lfs -text +*.ckpt filter=lfs diff=lfs merge=lfs -text +*.ftz filter=lfs diff=lfs merge=lfs -text +*.gz filter=lfs diff=lfs merge=lfs -text +*.h5 filter=lfs diff=lfs merge=lfs -text +*.joblib filter=lfs 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merge=lfs -text +*.tgz filter=lfs diff=lfs merge=lfs -text +*.wasm filter=lfs diff=lfs merge=lfs -text +*.xz filter=lfs diff=lfs merge=lfs -text +*.zip filter=lfs diff=lfs merge=lfs -text +*.zst filter=lfs diff=lfs merge=lfs -text +*tfevents* filter=lfs diff=lfs merge=lfs -text +# Audio files - uncompressed +*.pcm filter=lfs diff=lfs merge=lfs -text +*.sam filter=lfs diff=lfs merge=lfs -text +*.raw filter=lfs diff=lfs merge=lfs -text +# Audio files - compressed +*.aac filter=lfs diff=lfs merge=lfs -text +*.flac filter=lfs diff=lfs merge=lfs -text +*.mp3 filter=lfs diff=lfs merge=lfs -text +*.ogg filter=lfs diff=lfs merge=lfs -text +*.wav filter=lfs diff=lfs merge=lfs -text +# Image files - uncompressed +*.bmp filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.tiff filter=lfs diff=lfs merge=lfs -text +# Image files - compressed +*.jpg filter=lfs diff=lfs merge=lfs -text +*.jpeg filter=lfs diff=lfs merge=lfs -text +*.webp filter=lfs diff=lfs merge=lfs -text +# Video files - compressed +*.mp4 filter=lfs diff=lfs merge=lfs -text +*.webm filter=lfs diff=lfs merge=lfs -text diff --git a/simulation/rmbench/450/README.md b/simulation/rmbench/450/README.md new file mode 100644 index 0000000000000000000000000000000000000000..120c6abbce1108181c5cb66471d7dc932439759b --- /dev/null +++ b/simulation/rmbench/450/README.md @@ -0,0 +1,31 @@ +--- +pretty_name: IMPRINT RMBench 450 Training Store +tags: + - robotics + - rmbench + - dinov3 + - vision-language-action +--- + +# IMPRINT RMBench 450 Training Store + +This public repository contains the immutable stores used by the canonical +IMPRINT RMBench experiments: + +- `stage1/`: 450-episode DINOv3 feature and causal-history store +- `stage2/`: horizon-50 policy samples for the same 450 demonstrations + +The release is packaged as deterministic tar shards. Download the repository, +then reconstruct both roots with: + +```bash +python scripts/reproduce/extract_dataset_store.py \ + --archive-root /path/to/download \ + --output artifacts/datasets/rmbench +``` + +The resulting `stage1/` and `stage2/` directories are consumed directly by +the release launchers. See the manifests for per-shard SHA256 checksums. + +The corresponding code, launch configurations, and validation tools are +published in the IMPRINT GitHub repository. diff --git a/simulation/rmbench/450/manifest-stage1.json b/simulation/rmbench/450/manifest-stage1.json new file mode 100644 index 0000000000000000000000000000000000000000..8730ccdbe295b2f933ae6dbfe75a21d2ab33f10a --- /dev/null +++ b/simulation/rmbench/450/manifest-stage1.json @@ -0,0 +1,814 @@ +{ + "archive_format": "tar", + "format_version": 1, + "layout_prefix": "stage1", + "shards": [ + { + "bytes": 534487040, + "entries": 4, + "kind": "features", + "path": "shards/stage1/features-00000.tar", + "sha256": "a7e79a06f4fc833bfad9206b82c15705467cafdde904476efd990d3565af005b" + }, + { + "bytes": 535377920, + "entries": 4, + "kind": "features", + "path": "shards/stage1/features-00001.tar", + "sha256": "8a4045ed6c944f0ac0faea3dfcc9cf9e9ea4af4ebeaafefc3c61379c55ca2c68" + }, + { + "bytes": 537149440, + "entries": 4, + "kind": 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