Add sanitized RoboCasa replay assets

README.md

@@ -20,11 +20,19 @@ assets for IMPRINT.
 | `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 |
+| `simulation/robocasa/replay/v1/` | Recorded replay scenes and Retrieve lineage inputs for all 12 RoboCasa task groups |
 
 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.
 
+Install the RoboCasa replay bundle from an IMPRINT checkout with:
+
+```bash
+python scripts/reproduce/setup_robocasa_replay_assets.py \
+  --output artifacts/replay/robocasa-v1
+```
+
 Code, configuration, and evaluation instructions are published in the
 `Amazon-FAR/imprint` GitHub repository.
 

release_manifest.json

@@ -37,6 +37,15 @@
       "bytes": 41746512,
       "destination": "Amazon-FAR/imprint_datasets"
     },
+    "simulation/robocasa/replay/v1": {
+      "source": "IMPRINT paper evaluation replay scenes",
+      "source_revision": "sha256:ce73132d4bcad7476c730db9bbf0c007346d229d4b0e72ea2e607cb123121166",
+      "files": 3989,
+      "bytes": 947947520,
+      "destination": "Amazon-FAR/imprint_datasets",
+      "archive": "robocasa-replay-assets-v1.tar",
+      "archive_sha256": "ce73132d4bcad7476c730db9bbf0c007346d229d4b0e72ea2e607cb123121166"
+    },
     "simulation/rmbench/full_attention": {
       "source": "yilin-wu/imprint-rmbench-full-attention",
       "source_revision": "7be585a21fa03b9d114d771c0bc67f5e244e7b06",

simulation/robocasa/replay/v1/ASSET_MANIFEST.json

@@ -0,0 +1,40 @@
+{
+  "asset_id": "imprint-robocasa-replay-v1",
+  "benchmark": "customized-robocasa",
+  "contents": {
+    "pan_transfer": {
+      "episodes": 510,
+      "path": "pan_transfer/lerobot"
+    },
+    "retrieve": {
+      "lineage_manifest": "retrieve/retrieve_combined350_lineage.json",
+      "lineage_manifest_sha256": "1bc4b06030712c15c717d9e0f8036d950994d358854713f5bac727b43f7e4061",
+      "source_datasets": 6,
+      "source_root": "retrieve/sources"
+    },
+    "rinse_cutting_board": {
+      "episodes": 107,
+      "path": "rinse_cutting_board/lerobot"
+    },
+    "robocasa365": {
+      "episodes": 528,
+      "path": "robocasa365"
+    },
+    "sweeten_hot_chocolate": {
+      "episodes": 50,
+      "path": "sweeten"
+    },
+    "wash": {
+      "episodes": 101,
+      "path": "wash"
+    }
+  },
+  "license": "See the public dataset card and upstream source terms.",
+  "path_normalization": {
+    "personal_filesystem_prefixes": "removed",
+    "runtime_asset_locators": "/opt/imprint",
+    "scene_numeric_payloads": "unchanged"
+  },
+  "schema_version": 1,
+  "task_groups": 12
+}

simulation/robocasa/replay/v1/README.md

@@ -0,0 +1,40 @@
+# IMPRINT RoboCasa Replay Assets v1
+
+This archive contains the immutable recorded-scene inputs used by the
+paper-compatible evaluator for all 12 customized RoboCasa task groups.
+
+## Layout
+
+```text
+retrieve/
+  retrieve_combined350_lineage.json
+  sources/
+wash/
+sweeten/
+pan_transfer/lerobot/
+rinse_cutting_board/lerobot/
+robocasa365/
+```
+
+The Retrieve manifest and source HDF5 files are checksum-pinned by the
+evaluator. Other task roots contain recorded `ep_meta.json`, `model.xml.gz`,
+and `states.npz` payloads. Sweeten also includes its recovery metadata and
+comparison evidence.
+
+Dataset and simulator assets remain subject to the source terms documented by
+the public dataset card; this bundle does not relicense third-party assets.
+
+Install the archive through the IMPRINT repository:
+
+```bash
+python scripts/reproduce/setup_robocasa_replay_assets.py \
+  --output artifacts/replay/robocasa-v1
+```
+
+Then pass the extracted root to the coordinated evaluator:
+
+```bash
+python benchmarks/robocasa/eval/run_local.py \
+  ... \
+  --replay-assets-root artifacts/replay/robocasa-v1
+```

simulation/robocasa/replay/v1/robocasa-replay-assets-v1.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce73132d4bcad7476c730db9bbf0c007346d229d4b0e72ea2e607cb123121166
+size 947947520

simulation/robocasa/replay/v1/robocasa-replay-assets-v1.tar.sha256

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:497732fa4c83d55c6dddc4175fb7d351732bb965ba6c27512c501835a823ac8f
+size 96