Amazon-FAR/imprint_models

IMPRINT Models

This repository contains the public model checkpoints for IMPRINT.

Layout

Path	Benchmark	Memory encoder
simulation/rmbench/full_attention/	RMBench	Full attention
simulation/rmbench/recurrent/	RMBench	Recurrent gated delta
simulation/rmbench/pi0/	RMBench	Full attention + native Pi0
simulation/rmbench/molmoact2/	RMBench	Full attention + MolmoAct2
simulation/robocasa/full_attention/	Customized RoboCasa	Full attention
simulation/robocasa/recurrent/	Customized RoboCasa	Recurrent gated delta

The Pi0.5 directories preserve the files from their original release repositories. The MolmoAct2 directory contains a model-only conversion of the paper checkpoint. Optimizer, dataloader, scheduler, and trainer state are omitted. See release_manifest.json for immutable provenance, file counts, byte counts, and checksums.

Code, configuration, and evaluation instructions are published in the Amazon-FAR/imprint GitHub repository.

The checkpoints remain subject to their applicable upstream model licenses and terms, including Gemma/PaliGemma where used. The repository metadata does not relicense upstream weights.