---
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.