---
pretty_name: RobotAgentBench simulation assets
license: other
license_name: robotagentbench-asset-terms
license_link: LICENSE.md
viewer: false
tags:
- robotics
- embodied-ai
- simulation
- benchmark
---

# RobotAgentBench simulation assets

Version 0.1.0 supplies simulation assets, initial-state resources and the full
Context Reasoning question banks and standard answers for RobotAgentBench.
Evaluation code: https://github.com/AetherLabsAI/RobotAgentBench/tree/main.

The benchmark covers 18 short tasks, 8 long tasks, Task Discovery, Context
Reasoning, Failure Recovery, Robustness, and four OpenEnd household scenarios.
Isaac Sim and native SDK dependencies are installed separately.

## Install

Install the evaluator from its code repository, then use its versioned manifest:

```sh
robotagentbench assets fetch resources/assets-0.1.0.json --cache downloads
robotagentbench assets install resources/assets-0.1.0.json --cache downloads --destination Assets
robotagentbench assets configure resources/assets-0.1.0.json --destination Assets --runtime Runtime --profile room
```

For offline installation, copy all release archive parts into `downloads`.
Do not concatenate them. The installer verifies archive and member hashes.
Use separate fresh runtime directories for `room`, `atomic_coffee`,
`failure_recovery`, and `cloth` profiles. Standard answers are evaluator data;
they are not part of the agent observation interface.

## Saved initial configurations

The separate configuration release contains **1,470 saved initial configurations**:
30 for each of 49 task or scenario groups. These are release configurations for
reproducible evaluation, not the exact instances used for the paper's reported
results. Each record retains its accepted seed and initial state.

Install the shared assets once. Configurations store task parameters, poses,
robot initialization and required cloth-state arrays; they do not duplicate
the room geometry and textures for every episode.

```sh
python -m robotagentbench.simulation.saved_instance_release.download \
  --manifest resources/saved-instances-0.1.0.json \
  --cache downloads/configurations --destination /absolute/path/to/SavedConfigurations
```

See the [configuration guide](https://github.com/AetherLabsAI/RobotAgentBench/blob/main/docs/INSTANCES.md)
for selection and restoration, and the repository's InternVLA and Codex examples
for connecting an agent. The fine-tuned InternVLA model is available at
[AetherLabs-AI/InternVLA-A1.5-RAB](https://huggingface.co/AetherLabs-AI/InternVLA-A1.5-RAB).

## Licenses

Team-authored materials use CC BY 4.0. Third-party resources retain their own
terms, including CC BY-NC-SA 4.0 for the AgiBot GenieSim robot resources.
See [LICENSE.md](LICENSE.md), [NOTICE.md](NOTICE.md), and `LICENSES/`.
The license archive is included in the installer manifest so these notices
accompany automatic asset downloads. The code's Apache-2.0 license does not
relicense simulation assets or third-party materials.