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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The evaluator downloads +the pinned upstream DINOv3 and Qwen releases directly. diff --git a/simulation/rmbench/molmoact2_eval_assets/manifest.json b/simulation/rmbench/molmoact2_eval_assets/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..cecd380f4f1da2a56a1157a4ac1ce2e9203df035 --- /dev/null +++ b/simulation/rmbench/molmoact2_eval_assets/manifest.json @@ -0,0 +1,19 @@ +{ + "dino_model": { + "repo": "facebook/dinov3-vitb16-pretrain-lvd1689m", + "revision": "5931719e67bbdb9737e363e781fb0c67687896bc" + }, + "hf_repo": "Amazon-FAR/imprint_datasets", + "path_prefix": "simulation/rmbench/molmoact2_eval_assets", + "qwen_tokenizer": { + "repo": "Qwen/Qwen3-4B", + "revision": "1cfa9a7208912126459214e8b04321603b3df60c" + }, + "schema_version": 1, + "source_run": "mit0jkx7", + "stage2_metadata": [ + "stage2/meta/episodes.jsonl", + "stage2/meta/memory_layout.json" + ], + "stored_language_embedding_files": 450 +} diff --git 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Download the repository, +then reconstruct the `store/` root with: + +```bash +python scripts/reproduce/extract_dataset_store.py \ + --archive-root /path/to/download \ + --output artifacts/datasets/robocasa +``` + +See the manifests for per-shard SHA256 checksums. The exact patched simulator +source is distributed separately as `yilin-wu/imprint-robocasa-environment`. + +The corresponding code, launch configurations, and validation tools are +published in the IMPRINT GitHub repository. diff --git a/simulation/robocasa/600/manifest-store.json b/simulation/robocasa/600/manifest-store.json new file mode 100644 index 0000000000000000000000000000000000000000..7aa8feeffeb411bc955f731bcefad741b26fb2b1 --- /dev/null +++ b/simulation/robocasa/600/manifest-store.json @@ -0,0 +1,1626 @@ +{ + "archive_format": "tar", + "format_version": 1, + "layout_prefix": "store", + "shards": [ + { + "bytes": 2961930240, + "entries": 5000, + "kind": "data", + "path": "shards/store/data-00000.tar", + "sha256": "bb8093fef6d3857a0eb4ddce15da68439426a30b3bdfaf406fcb9d06e926e281" + }, + { + "bytes": 2961930240, + "entries": 5000, + "kind": "data", + "path": "shards/store/data-00001.tar", + "sha256": "d45e89bb7d6b293ef6fe1a6737beebed6419736e282f3a4262f54ca20d3da0ed" + }, + { + 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index 0000000000000000000000000000000000000000..bed0738c7eeb449bca98b5d2f33c89a1ee56349a --- /dev/null +++ b/simulation/robocasa/environment/.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 diff=lfs merge=lfs -text +*.lfs.* filter=lfs diff=lfs merge=lfs -text +*.lz4 filter=lfs diff=lfs merge=lfs -text +*.mds filter=lfs diff=lfs merge=lfs -text +*.mlmodel filter=lfs diff=lfs merge=lfs -text +*.model filter=lfs diff=lfs merge=lfs -text +*.msgpack filter=lfs diff=lfs merge=lfs -text +*.npy filter=lfs diff=lfs merge=lfs -text +*.npz filter=lfs diff=lfs merge=lfs -text +*.onnx filter=lfs diff=lfs merge=lfs -text +*.ot filter=lfs diff=lfs merge=lfs -text +*.parquet filter=lfs diff=lfs merge=lfs -text +*.pb filter=lfs diff=lfs merge=lfs -text +*.pickle filter=lfs diff=lfs merge=lfs -text +*.pkl filter=lfs diff=lfs merge=lfs -text +*.pt filter=lfs diff=lfs merge=lfs -text +*.pth filter=lfs diff=lfs merge=lfs -text +*.rar filter=lfs diff=lfs merge=lfs -text +*.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 +*.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/robocasa/environment/PYTHON_VERSION.txt b/simulation/robocasa/environment/PYTHON_VERSION.txt new file mode 100644 index 0000000000000000000000000000000000000000..0afd22887476df169d1114e9ae9ccbbb020bc78d --- /dev/null +++ b/simulation/robocasa/environment/PYTHON_VERSION.txt @@ -0,0 +1 @@ +Python 3.10.20 diff --git a/simulation/robocasa/environment/README.md b/simulation/robocasa/environment/README.md new file mode 100644 index 0000000000000000000000000000000000000000..d30d5858b907a18bc7dff5e050c2ef662ad95554 --- /dev/null +++ b/simulation/robocasa/environment/README.md @@ -0,0 +1,32 @@ +--- +license: mit +pretty_name: IMPRINT Customized RoboCasa 1.0.1 Environment +tags: + - robotics + - robocasa + - simulation +--- + +# IMPRINT Customized RoboCasa Environment + +This public repository preserves the exact patched RoboCasa 1.0.1 source +environment used for IMPRINT evaluation. + +Included: + +- 18 migrated memory-task classes +- legacy RoboCasa 0.2 scene-index compatibility +- recorded XML/state replay fixes +- task registration and terminal success logic +- pinned Python and dependency manifests +- environment tests and migration notes + +Archive: + +```text +robocasa-memory-setup.tar.gz +SHA256 ea113f5e102a59d8c7b893dbc9f4dfe3e993cc5dd1a0ec5f4173d9012061bd91 +``` + +The large RoboCasa kitchen and legacy replay assets are not embedded. Follow +`SETUP_AND_FIX_NOTES.md` after extraction. diff --git a/simulation/robocasa/environment/SETUP_AND_FIX_NOTES.md b/simulation/robocasa/environment/SETUP_AND_FIX_NOTES.md new file mode 100644 index 0000000000000000000000000000000000000000..375679884c8ba9a8d9a61776f7aff78949334ded --- /dev/null +++ b/simulation/robocasa/environment/SETUP_AND_FIX_NOTES.md @@ -0,0 +1,159 @@ +# RoboCasa × ReMemBench Memory Tasks — Full Setup & Fix Notes + +This package is the complete, self-contained setup for the **migrated ReMemBench +memory tasks running inside official RoboCasa 1.0.1 (robocasa-new / robocasa365)**, +plus the datasets pipeline (replay → regenerate → LeRobot convert → merge with +human300) and the Robo-Dopamine reward-annotation pipeline built on top. + +It captures **what the mixture between RoboCasa and ReMemBench was, why it broke, and +exactly how it was fixed**, together with all the code and the reproducible +environment manifest. + +--- + +## 0. TL;DR — the environment + +Everything below was built and run in ONE uv-managed environment: + +- **`~/robocasa-new/.venv-mem`** — CPython **3.10.20** +- **robocasa 1.0.1** (editable install = the code in this package) +- **robosuite 1.5.2**, **mujoco 3.3.1** (CPU physics, EGL rendering) +- torch 2.7.1, numpy 2.2.5, h5py 3.16.0, imageio 2.37.3, **lerobot 0.3.3** +- Host GPU: NVIDIA RTX PRO 5000 (Blackwell, sm_120) — rendering uses `MUJOCO_GL=egl`. + +Exact pins: `requirements-venv-mem.freeze.txt` (full `pip freeze`) + `PYTHON_VERSION.txt`. + +Recreate: +```bash +uv venv --python 3.10 .venv-mem +uv pip install -r requirements-venv-mem.freeze.txt --python .venv-mem/bin/python +uv pip install -e . --python .venv-mem/bin/python # this repo = robocasa 1.0.1 +``` + +The Robo-Dopamine reward VLM runs in a SEPARATE env (`~/robometer/.venv-robodopamine`, +vLLM) — see §5 and the robometer package notes. + +--- + +## 1. What the "mixture" was + +The memory tasks originated in **ReMemBench**, a fork of **robocasa 0.2.0** (used in the +HALO project). The goal was to run those tasks in **official robocasa 1.0.1** +(a.k.a. robocasa-new / robocasa365) so a single pi0.5/openpi policy can train and eval +on memory + non-memory tasks in one ecosystem. + +Two distinct things had to be reconciled: + +1. **Environment classes** — 18 `Mem*` task definitions written against the 0.2.0 API. +2. **Recorded demonstrations** — HDF5 demos recorded under 0.2.0 / robosuite 1.x, which + must replay faithfully on the 1.0.1 envs. + +--- + +## 2. How it was fixed — three layers + +Full detail is in the three notes docs shipped in this package under +`docs/superpowers/`. Summary of each fix layer: + +### Layer 1 — Env-class port (`MEMORY_TASKS_MIGRATION_NOTES.md`) +- Ported 18 `Mem*` classes to `robocasa/environments/kitchen/memory/memory_env.py`. +- Ported ReMemBench object groups + cooking-timing tables into + `robocasa/models/objects/kitchen_objects.py`, plus 2 `object_utils.py` helpers. +- Registered the tasks so 1.0.1's env registry can instantiate them. + +### Layer 2 — Legacy-scene replay (`LEGACY_REPLAY_NOTES.md` — supersedes L1's "blocked" conclusion) +Three sequential blockers between 0.2.0 demos and 1.0.1 envs: +- **Scene index conflict:** 0.2.0 used 0-indexed named style/layout enums; 1.0.1 + renumbered to 1-indexed numeric (`STYLE001=1…`). Recorded `style_id=0` → `KeyError`. + Fixed by remapping the migrated 0.2.0 scene indices to registered legacy entries + (`scene_registry` + `ep_meta` remap on every `reset_to`). +- **`ep_meta` object-config schema drift:** 0.2.0 keys (`obj_registries`, + `obj_instance_split`, nested `object_scale`) rejected by the 1.0.1 cfg validator. + Fixed by tolerating/normalizing legacy keys during replay. +- **Fixture asset gap:** legacy 0.2.0 fixture assets missing in 1.0.1. Fixed by a + reproducible fetch of the legacy assets (`scripts/replay/fetch_legacy_assets.py`). +- **Render fix:** hide baked-in `success_region` / debug-visualization goal sites so + they don't appear in rendered frames (`_hide_debug_sites`). + +### Layer 3 — Dataset regeneration (`REGENERATED_DATASET_NOTES.md`) +- **State-faithful replay:** restore each recorded MuJoCo state via `reset_to`, + re-derive obs + render cameras, re-write in the original two-file ReMemBench format + with migrated version stamps. Not a fresh re-collection — recorded actions preserved. +- Persisted container-lift correction; all demos end `is_success=True`. + +--- + +## 3. Re-render for the unified dataset (256×256, 3 cameras) + +After the mixture was resolved, the memory demos were re-rendered to match human300 so +they could be merged into one LeRobot dataset. Design + plan: +`docs/superpowers/specs/2026-07-06-unified-memory-human300-dataset-design.md`. + +- **Re-render:** `scripts/regen_dataset/` (`regenerate_all.py` → `regenerate_demo.py` + → `write_hdf5.py`). Sets `CAMERAS = [robot0_agentview_left, robot0_agentview_right, + robot0_eye_in_hand]` (center dropped) and `camera_heights=camera_widths=256`. + EGL default, ~300 fps, resumable skip-if-exists. + ```bash + MUJOCO_GL=egl .venv-mem/bin/python -m scripts.regen_dataset.regenerate_all \ + --out-dir regenerated_dataset_256 # 256px / 3-cam + ``` +- **Memory → LeRobot v2.1:** `scripts/merge_dataset/convert_memory_to_lerobot.py` — + real 3-cam mapping (`agentview_left`→left, `agentview_right`→right, `eye_in_hand`→ + wrist), **vertical-flip** (memory obs are bottom-up), h264 video to match human300, + `state[16]`/`action[12]`, `PandaOmron_modality.json`. Output: `memory_lerobot//lerobot`. +- **human300 download:** `scripts/merge_dataset/download_human300.sh`. +- **Physical merge:** `scripts/merge_dataset/merge_lerobot_datasets.py` — concatenates + 313 task dirs (13 memory + 300 human300), contiguous re-index of + `episode_index`/`index`/`task_index` (+ `annotation.human.*`), dedup tasks.jsonl, + frame-weighted stats aggregation. + +**Camera facts (verified, model consumes 3 cams):** `base_0_rgb`←agentview_left, +`right_wrist_0_rgb`←agentview_right, `left_wrist_0_rgb`←eye_in_hand. Stored 256×256; +model resizes to 224×224 at load. agentview_center is NOT used. + +The public IMPRINT training store is under +`simulation/robocasa/600` in `Amazon-FAR/imprint_datasets`. This customized +environment package is under `simulation/robocasa/environment` in the same +repository. + +--- + +## 4. Package layout + +``` +SETUP_AND_FIX_NOTES.md # this file +PYTHON_VERSION.txt # 3.10.20 +requirements-venv-mem.freeze.txt # full pip freeze of .venv-mem +robocasa/ # robocasa 1.0.1 source + memory/ env package + environments/kitchen/memory/ # THE 18 Mem* task classes (memory_env.py) + models/objects/kitchen_objects.py # ported object groups + cooking timings +scripts/ + regen_dataset/ # re-render (replay -> hdf5) + merge_dataset/ # convert to LeRobot + download human300 + merge + replay/ # legacy replay, key-moment detection, wash split +tests/memory/, tests/merge/ # registration/smoke/replay/convert verification +docs/superpowers/ + MEMORY_TASKS_MIGRATION_NOTES.md # Layer 1 + LEGACY_REPLAY_NOTES.md # Layer 2 + REGENERATED_DATASET_NOTES.md # Layer 3 + specs/ plans/ # design + implementation plans (dated) +``` + +--- + +## 5. Reward annotations (Robo-Dopamine, separate env) + +The 4-segment wash-and-return reward pipeline lives in the separate +`robometer` project and is not included in this environment archive. The +training store published with IMPRINT already contains the reward annotations +used by the released configuration. + +--- + +## 6. Git provenance + +The portable evaluator, setup script, and environment manifest are maintained +in `Amazon-FAR/imprint`. The archived commit history traces the exact fix +order: object groups → env port → legacy scene remap → ep_meta tolerance → +asset fetch → debug-site hiding → replay → regenerate → 256/3-cam +parameterization → LeRobot conversion → human300 merge. diff --git a/simulation/robocasa/environment/requirements-venv-mem.freeze.txt b/simulation/robocasa/environment/requirements-venv-mem.freeze.txt new file mode 100644 index 0000000000000000000000000000000000000000..0165001d8d8da1538e6f7d00c3aac3f3a3b449db --- /dev/null +++ b/simulation/robocasa/environment/requirements-venv-mem.freeze.txt @@ -0,0 +1,151 @@ +absl-py==2.4.0 +aiohappyeyeballs==2.6.2 +aiohttp==3.14.1 +aiosignal==1.4.0 +annotated-doc==0.0.4 +annotated-types==0.7.0 +anyio==4.14.1 +async-timeout==5.0.1 +attrs==26.1.0 +av==17.1.0 +blinker==1.9.0 +certifi==2026.6.17 +charset-normalizer==3.4.7 +click==8.4.2 +cloudpickle==3.1.2 +cmake==4.3.4 +datasets==3.6.0 +deepdiff==8.6.2 +diffusers==0.38.0 +dill==0.3.8 +dm-tree==0.1.10 +draccus==0.10.0 +einops==0.8.2 +etils==1.13.0 +evdev==1.9.3 +exceptiongroup==1.3.1 +Farama-Notifications==0.0.6 +filelock==3.29.4 +Flask==3.1.3 +frozenlist==1.8.0 +fsspec==2025.3.0 +gitdb==4.0.12 +GitPython==3.1.50 +glfw==2.10.0 +grpcio==1.81.1 +gym==0.26.2 +gym-notices==0.1.0 +gymnasium==0.29.1 +h11==0.16.0 +h5py==3.16.0 +hf-xet==1.5.1 +hidapi==0.15.0 +httpcore==1.0.9 +httpx==0.28.1 +huggingface_hub==1.21.0 +idna==3.18 +ImageIO==2.37.3 +imageio-ffmpeg==0.6.0 +importlib_metadata==9.0.0 +importlib_resources==7.1.0 +iniconfig==2.3.0 +itsdangerous==2.2.0 +Jinja2==3.1.6 +jsonlines==4.0.0 +lerobot==0.3.3 +llvmlite==0.44.0 +lxml==6.1.1 +Markdown==3.10.2 +markdown-it-py==4.2.0 +MarkupSafe==3.0.3 +mdurl==0.1.2 +mergedeep==1.3.4 +mpmath==1.3.0 +msgpack==1.2.1 +mujoco==3.3.1 +multidict==6.7.1 +multiprocess==0.70.16 +mypy_extensions==1.1.0 +networkx==3.4.2 +numba==0.61.2 +numpy==2.2.5 +nvidia-cublas-cu12==12.6.4.1 +nvidia-cuda-cupti-cu12==12.6.80 +nvidia-cuda-nvrtc-cu12==12.6.77 +nvidia-cuda-runtime-cu12==12.6.77 +nvidia-cudnn-cu12==9.5.1.17 +nvidia-cufft-cu12==11.3.0.4 +nvidia-cufile-cu12==1.11.1.6 +nvidia-curand-cu12==10.3.7.77 +nvidia-cusolver-cu12==11.7.1.2 +nvidia-cusparse-cu12==12.5.4.2 +nvidia-cusparselt-cu12==0.6.3 +nvidia-nccl-cu12==2.26.2 +nvidia-nvjitlink-cu12==12.6.85 +nvidia-nvtx-cu12==12.6.77 +opencv-python==4.13.0.92 +-e git+https://github.com/robocasa-benchmark/openpi@5a6beda9ff99da30b4e1b59320f6a32971d7c397#egg=openpi_client&subdirectory=packages/openpi-client +orderly-set==5.5.0 +packaging==26.2 +pandas==2.3.3 +pillow==12.2.0 +platformdirs==4.10.0 +pluggy==1.6.0 +propcache==0.5.2 +protobuf==3.19.6 +psutil==7.2.2 +pyarrow==24.0.0 +pydantic==2.13.4 +pydantic_core==2.46.4 +pygame==2.6.1 +Pygments==2.20.0 +pynput==1.8.2 +PyOpenGL==3.1.10 +pyserial==3.5 +pytest==9.1.1 +python-dateutil==2.9.0.post0 +python-xlib==0.33 +pytz==2026.2 +PyYAML==6.0.3 +pyyaml-include==1.4.1 +qpsolvers==4.12.0 +quadprog==0.1.13 +regex==2026.6.28 +requests==2.34.2 +rerun-sdk==0.22.1 +rich==15.0.0 +-e git+https://github.com/robocasa/robocasa.git@c1f87adfd70207e1a9fc910662299a199511e8e2#egg=robocasa +robosuite @ git+https://github.com/ARISE-Initiative/robosuite.git@85abee228d1c43ab1939bce33028099945d453b4 +safetensors==0.8.0 +scipy==1.15.3 +sentry-sdk==2.64.0 +shellingham==1.5.4 +six==1.17.0 +smmap==5.0.3 +svgwrite==1.4.3 +sympy==1.14.0 +tensorboard==2.20.0 +tensorboard-data-server==0.7.2 +termcolor==3.3.0 +tianshou==0.4.10 +toml==0.10.2 +tomli==2.4.1 +torch==2.7.1 +torchcodec==0.5 +torchvision==0.22.1 +tqdm==4.68.3 +Tree==0.2.4 +triton==3.3.1 +typer==0.25.1 +typing-inspect==0.9.0 +typing-inspection==0.4.2 +typing_extensions==4.15.0 +tzdata==2026.2 +urllib3==2.7.0 +wandb==0.25.0 +websockets==16.0 +Werkzeug==3.1.8 +wrapt==2.2.2 +xxhash==3.8.0 +yarl==1.24.2 +zipp==4.1.0 diff --git a/simulation/robocasa/environment/robocasa-memory-setup.tar.gz b/simulation/robocasa/environment/robocasa-memory-setup.tar.gz new file mode 100644 index 0000000000000000000000000000000000000000..dad3a5178471bcceba3a83d6bcf153b1b6c8a39c --- /dev/null +++ b/simulation/robocasa/environment/robocasa-memory-setup.tar.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab65ddb296584f81261c1d95a154e00ae73b3d874c8d1306b9c029a38b734eb5 +size 41732524