Publish Phoenix-MWA evaluation resources (verified batch)
Browse filesExplicit evaluation-only release; no training states, raw visual data or credentials.
- README.md +61 -0
- release_manifest.json +1644 -0
README.md
ADDED
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---
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library_name: pytorch
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tags:
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- robotics
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- phoenix-mwa
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- robocasa
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---
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# Phoenix-RoboCasa
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Phoenix-MWA RoboCasa GR1 policy initialized from pretraining step **110,000**, then fine-tuned for **45,000** steps. This is a weights-only inference release for a local **Phoenix-MWA** checkout; it is not a full training-state resume checkpoint.
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The policy uses `phoenix.local_joint96.weights.v1` and requires the matching DINO110k EMA and STVAE150k weights from [OpenPhoenix/Phoenix-Encoders](https://huggingface.co/OpenPhoenix/Phoenix-Encoders). The separate LIBERO policy is [OpenPhoenix/Phoenix-LIBERO](https://huggingface.co/OpenPhoenix/Phoenix-LIBERO).
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## Files
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- `policy_phoenix_v1.pt`, `config.yaml` and `initialization.json`: policy, saved configuration and initialization provenance.
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- `scene_seed_list.json`: evaluation scene seeds.
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- `package/`: matching numeric/text package, including `package.json`, `norm.json` and referenced resources.
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- `metadata/`: task metadata used by the package.
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Historical absolute paths in configuration and package records retain training/data provenance. Pass `--metadata-root` to relocate task metadata and use the runtime configuration produced below. Do not replace the matching normalization or text resources. The release does not include a historical `source_acceptance.json`; the direct preparation entry does not require one.
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## Download and smoke evaluation
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Run from the root of your local Phoenix-MWA checkout. Follow its `docs/INSTALLATION.md` and `docs/RESOURCES.md`, install the `robocasa-policy` extra in the policy environment, and install `huggingface_hub` there:
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```python
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from huggingface_hub import snapshot_download
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snapshot_download("OpenPhoenix/Phoenix-RoboCasa", local_dir="checkpoints/robocasa")
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snapshot_download("OpenPhoenix/Phoenix-Encoders", local_dir="checkpoints/encoders")
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```
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Acquire the matching Wan video/VAE, T5 text-encoder and tokenizer components separately under `checkpoints/base/` in Phoenix-MWA's expected layout. These are not included here. The saved configuration selects [Wan2.2-TI2V-5B](https://huggingface.co/Wan-AI/Wan2.2-TI2V-5B) and the [Wan2.1-T2V-1.3B](https://huggingface.co/Wan-AI/Wan2.1-T2V-1.3B) tokenizer.
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Install the official [RoboCasa GR1 tabletop simulator](https://github.com/robocasa/robocasa-gr1-tabletop-tasks) and its assets in a separate environment. Follow Phoenix-MWA's resource instructions to prepare `resources/robocasa/`, including its `simulator/` checkouts. Set `ROBOCASA_SIM_PYTHON` to that environment's Python executable:
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```bash
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export ROBOCASA_SIM_PYTHON=/path/to/robocasa-env/bin/python
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python tools/prepare_eval.py --benchmark robocasa-gr1 \
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--checkpoint checkpoints/robocasa/policy_phoenix_v1.pt \
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--config checkpoints/robocasa/config.yaml \
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--dino checkpoints/encoders/dino110k.pt \
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--stvae checkpoints/encoders/stvae150k.pt \
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--model-base checkpoints/base \
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--package checkpoints/robocasa/package \
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--metadata-root checkpoints/robocasa/metadata \
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--scene-seeds checkpoints/robocasa/scene_seed_list.json \
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--resources resources/robocasa \
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--sim-python "$ROBOCASA_SIM_PYTHON" \
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--output resources/phoenix-robocasa-smoke
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NUM_GPUS_TOTAL=1 bash scripts/evaluate.sh robocasa-gr1 \
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resources/phoenix-robocasa-smoke/eval.env.sh smoke
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```
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Use a new `--output` directory for each run. Preparation creates runtime files without launching inference. Smoke runs the first task for one episode and checks execution; it is not a benchmark success-rate estimate. Target-platform validation remains necessary. PPU/NVIDIA numerical parity is not certified, and no cross-platform acceptance claim is made by this release.
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## Licensing
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See [NOTICE.md](NOTICE.md) and the accompanying component licenses. The auxiliary dataset-derived resources retain the **CC BY-NC 4.0** terms of their NVIDIA GR00T source, including its non-commercial restriction and attribution requirements. This does not declare the policy weights themselves to be CC BY-NC 4.0 or MIT. Phoenix-MWA's source-code license does not override terms for weights, datasets, simulators or upstream models. The shared encoder repository includes the applicable DINOv3 terms.
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release_manifest.json
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