onf/UPSTREAM.md

Upstream provenance

The onf package (everything under src/onf, evals/) is original code for this project. It depends on a few third-party trees that are not copied into this repo — they are reached through external/ (symlinks today; pin as sub-clones before any public release). Commits are the same ones vendored by the parent vla-bottleneck working repo.

Exception — vendored LIBERO client. The small set of eval-harness files actually needed to run LIBERO / LIBERO-Plus rollouts has been copied OUT of the VLA-JEPA donor repo INTO this repo at evals/libero_plus/harness/ so that running the evals no longer requires external/VLA-JEPA. Vendored files (from ginwind/VLA-JEPA @ ec8c70f6e155e2377bbd4d787004c14179c00c7c): examples/LIBERO/eval_libero.py, examples/LIBERO/model2libero_interface.py, examples/SimplerEnv/eval_files/adaptive_ensemble.py, and the websocket / msgpack transport under deployment/model_server/tools/ (websocket_policy_client.py, websocket_policy_server.py, msgpack_numpy.py, image_tools.py). Imports were rewired to be self-contained (tools.* + sibling modules); a thin harness/deployment/model_server/tools/ compat package re-exports the transport under the server's legacy import path. The grc_* retrieval-grounding modules were NOT vendored (they were reached only by exploratory ablation env-flags; that code has since been removed from this repo). The full donor repo is not needed; clone it from the URL below only if you want to diff against it.

external/ path	Role	Source repo	Commit pinned	License
evals/libero_plus/harness/ (vendored, in-repo)	LIBERO-Plus eval harness (StableVLA/GR00T sim client) — copied out of VLA-JEPA	ginwind/VLA-JEPA	ec8c70f6e155e2377bbd4d787004c14179c00c7c	⚠️ no LICENSE shipped upstream — resolve before redistribution
external/LIBERO-plus (gitignored)	LIBERO-Plus benchmark (libero pkg + perturbation suites + bddl)	sylvestf/LIBERO-plus (a fork of Lifelong-Robot-Learning/LIBERO)	4976dc30028e805ff8094b55501d532c48fec182 (main)	see tree LICENSE
VLA-JEPA/ (not needed)	original donor repo for the vendored client above	ginwind/VLA-JEPA	ec8c70f6e155e2377bbd4d787004c14179c00c7c	⚠️ no LICENSE shipped upstream — resolve before redistribution
VLANeXt/	modules / recipes for exploratory ablation work (that code has since been removed from this repo)	DravenALG/VLANeXt	f4162397af201bddbdb2ec17e836bde4743c1913	see tree LICENSE
Isaac-GR00T/	GR00T-N1.7 cross-policy eval server	NVIDIA Isaac-GR00T (sibling working tree)	local Jul 14 checkout	see tree LICENSE
evals/stablevla/stablevla_policy_server.py (vendored, in-repo)	StableVLA/HumanNet websocket policy server — copied from vla-bottleneck eval tree so evals are self-contained	DAGroup-PKU/HumanNet lineage via vla-bottleneck/eval/libero_plus/	same as StableVLA trunk commit 68eb86d555fc4d3b09003319cff7644cd4c8b571	see tree LICENSE

The StableVLA trunk (model code, from DAGroup-PKU/HumanNet src/model/StableVLA, commit 68eb86d555fc4d3b09003319cff7644cd4c8b571) goes at the repo root as stablevla/, which is where scripts/run_sr.py, evals/gr00t/run_gr00t.py, evals/stablevla/stablevla_policy_server.py and every ckpt path in configs/suites.yaml look for it. Sparse-checkout command and the separate weights download under stablevla/hf_weights/: docs/SETUP.md. The trunk is a runtime dependency of the evals, not of the core onf package.

Data

data/ (fields, demos, datasets) and results/ (rollouts, figures) are symlinks into the parent vla-bottleneck tree. Relocating the data into this repo is deferred (large; see README "Data"). Trained fields live under data/fwm/<suite>/ — onf_head.npz + q_flow.npz + q_home.npz per suite (spatial, long, goal, aloha_left, and the top-level object/base).