Publish simulation-only IMPRINT datasets

README.md

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+---
+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.

release_manifest.json

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+{
+  "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": "979c8e896855f393d560ef43aabc4e68bc4e6248",
+      "files": 465,
+      "bytes": 590046837296,
+      "destination": "Amazon-FAR/imprint_datasets"
+    },
+    "simulation/robocasa/environment": {
+      "source": "yilin-wu/imprint-robocasa-environment",
+      "source_revision": "86b8c2f042ad03776b0d23d3cd582e62b7fedacf",
+      "files": 6,
+      "bytes": 41746512,
+      "destination": "Amazon-FAR/imprint_datasets"
+    },
+    "simulation/rmbench/full_attention": {
+      "source": "yilin-wu/imprint-rmbench-full-attention",
+      "source_revision": "7be585a21fa03b9d114d771c0bc67f5e244e7b06",
+      "files": 29,
+      "bytes": 11163847579,
+      "destination": "Amazon-FAR/imprint_models"
+    },
+    "simulation/rmbench/recurrent": {
+      "source": "yilin-wu/imprint-rmbench-recurrent",
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+      "files": 31,
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+      "destination": "Amazon-FAR/imprint_models"
+    },
+    "simulation/robocasa/full_attention": {
+      "source": "yilin-wu/imprint-robocasa-full-attention",
+      "source_revision": "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"
+    }
+  }
+}

simulation/rmbench/450/.gitattributes

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+*.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
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+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
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+*.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
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+*.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

simulation/rmbench/450/README.md

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+---
+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.

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