| # RoboTwin |
|
|
| This benchmark-owned server exposes native Aloha joint-target control, three |
| RGB cameras, language, 12 measured arm joint angles and two explicitly labeled |
| gripper command values. The model generates all task actions. The server |
| does not expose expert rollouts, object poses, IK or task-planning methods. |
|
|
| The adapter is a development fast track, not the native full score: choose |
| `lift_pot` or `click_bell`, one predeclared unscreened seed, one attempt. |
| Native imports, reset, image correctness and compiled controller validation are |
| runtime acceptance gates; a listening server or CPU test is not a native pass. |
| See [EVALUATION_PROTOCOL.md](EVALUATION_PROTOCOL.md) for exact differences. |
|
|
| The current `state14/fast-v3` and OIDN-compatible `state14-oidn233/fast-v4` |
| protocols add this robot-state reference for absolute joint control. The former |
| RGB-only v1/v2 results keep their frozen contracts; they do not gain retrospective |
| state. Arm positions come from native measured-joint getters, not the |
| misleadingly named `joint_action` drive targets. Gripper values remain commands, |
| not measured opening or grasp evidence. The new observation track needs its own |
| native acceptance; an old reset-only or zero-action model run is not that proof. |
|
|
| ## Directory responsibilities |
|
|
| `server.py` is the public factory/launch entrypoint; `bench_server/adapter.py` |
| owns the supported two-task interface and native scoring. `environment/` owns |
| deployment, native/runtime pins and renderer readiness; `checks/` contains offline |
| regressions. The small task definition remains in the adapter: no empty catalog |
| or protocol package is required. Operator paths and track selection belong in |
| `server.example.json` or an operator-owned copy. No root adapter shim remains; |
| this relocation does not change native actions, budgets or scoring. |
|
|
| ## Native environment and assets |
|
|
| The inspected local RoboTwin archive has no own Git revision. Its selected |
| runtime closure is pinned in [environment/native_snapshot.json](environment/native_snapshot.json): |
| 2,088 files / 1,011,813,984 bytes, including Aloha, both object variants for the |
| two tasks, native task/config code and its CuRobo package. `native_source_revision` |
| is `null`; the descriptor uses a content-inventory SHA-256, not an invented |
| upstream or parent-repository commit. |
|
|
| This initial archive-specific adapter is not yet a one-command clean upstream |
| installation. An arbitrary current RoboTwin clone or the public asset release |
| alone will not satisfy the source pin. Supply the exact matching archive, or |
| review and version a new source inventory/protocol explicitly. Do not regenerate |
| the accepted inventory merely to bypass a mismatch. |
|
|
| The intended native environment is Linux/Python 3.11.15, SAPIEN 3.0.0b1, |
| MPLib 0.2.1 and TOPPRA 0.6.3, with the exact versions and SAPIEN/MPLib/TOPPRA |
| package bytes in [environment/runtime_snapshot.json](environment/runtime_snapshot.json). |
| The adapter checks them without importing the simulator. This is not a full |
| transitive environment, GPU driver or CUDA JIT attestation. Dependencies, |
| renderer/GPU availability and matching asset bytes are separate requirements. |
| In particular, bundled OIDN 2.0.1 has a limited CUDA architecture range. Run the |
| [renderer readiness check](environment/RENDERING.md) on the allocated device: |
| valid files and nonempty RGB frames do not establish a working denoiser. |
| For CUDA devices outside that version's architecture range, an explicit |
| `oidn_2_3_3_cuda_v1` renderer track is available. Follow the |
| [owned overlay instructions](environment/RENDERING.md#opt-in-oidn-233-cuda-compatibility-track) |
| and use [server-oidn233.example.json](server-oidn233.example.json). It keeps the |
| original environment and native task bytes untouched. The new renderer track |
| has a different protocol identity and does not claim image parity with 2.0.1; |
| the default example still selects the original track. |
|
|
| To materialize a new deployment from a matching reference archive: |
|
|
| ```sh |
| python -B -m benchmarks.simBenchmarks.Robotwin.environment.deployment prepare \ |
| --reference-root /absolute/path/to/matching-reference-archive \ |
| --output-dir /absolute/path/to/new-owned-robotwin-deployment |
| ``` |
|
|
| This copies the selected closure without changing the reference. Only the two |
| Aloha `curobo_left.yml` / `curobo_right.yml` files are derived from their pinned |
| native `_tmp.yml` templates by native `ASSETS_PATH` expansion. The receipt records |
| original/template/deployed hashes and the `deployment_manifest_sha256`. Every |
| other byte and the exact file set must match. Extra source overrides, symlinks |
| and bytecode caches are rejected. Do not run a native wholesale installer |
| against an existing environment: its package patches, path rewrites and |
| unpinned downloads are not this deployment. |
|
|
| The closure includes `assets/objects/objaverse/list.json` and |
| `assets/objects/same.json`: native utility imports read both even when clutter |
| is disabled. They are unchanged native metadata, not generated substitutes. |
| These two clean tasks do not use randomized background/clutter geometry. That |
| does not establish release completeness or enable the randomized/full track. |
| Leave at least the selected closure's size plus headroom for a new copy, native |
| JIT caches and model-owned media. Full RoboTwin assets are substantially larger. |
|
|
| ## Start one SIM service |
|
|
| From the RSI repository root, copy [server.example.json](server.example.json) |
| to an evaluator-private configuration. Replace both placeholder deployment |
| fields; the all-zero digest is intentionally not runnable. Select the task and |
| native seed before the attempt. The shared harness seed is recorded separately |
| and does not search for a native seed. |
|
|
| First verify files/runtime only: |
|
|
| ```sh |
| python -B -m benchmarks.simBenchmarks.Robotwin.environment.runtime \ |
| --root /absolute/path/to/new-owned-robotwin-deployment \ |
| --manifest-sha256 YOUR_DEPLOYMENT_MANIFEST_SHA256 |
| ``` |
|
|
| Set the same evaluator-only `RSI_SIM_SERVER_TOKEN` (32–256 URL-safe characters) |
| in the server and evaluator environments. The adapter creates a fresh per-episode |
| `cache/curobo-jit` and scopes `TORCH_EXTENSIONS_DIR` there during native calls; |
| it stays outside the pinned deployment and is excluded from artifact transfer. |
| Using the native environment, start: |
|
|
| ```sh |
| python -B -m benchmarks.simBenchmarks.Robotwin.server \ |
| --parameters /absolute/private/robotwin-server.json \ |
| --seed 20260907 --episodes 1 --port 8771 \ |
| --output-dir AgentPolicies/anonymous_code_agent/results/robotwin/raw/lift_pot-pot-lifting-service |
| ``` |
|
|
| `-B` is required. The server binds loopback and starts with zero native resets. |
| Calls are serialized; waiting for a model does not advance physics. Follow the |
| [shared service setup](../SERVER_PROTOCOL.md) for evaluator-only URL/token setup |
| and SSH forwarding when the evaluator is on another node. Never give service |
| credentials or evaluator-side native records to the actor. |
|
|
| ## Run a participant through the evaluator |
|
|
| Use a fresh model-owned result directory and a previously prepared opaque policy |
| mailbox; model setup belongs under `AgentPolicies/<profile>/`, not here. |
| For the external code-agent mailbox, the evaluator command is: |
|
|
| ```sh |
| python -B -m benchkit run \ |
| --benchmark robotwin \ |
| --sim-server http://127.0.0.1:8771 \ |
| --model-profile anonymous_code_agent \ |
| --policy-args '{"directory":"/absolute/opaque-mailbox"}' \ |
| --seed 20260907 --episodes 1 \ |
| --budget-mode horizon --max-policy-calls 200 --replan-interval 5 --max-steps 1000 \ |
| --output-dir AgentPolicies/anonymous_code_agent/results/robotwin/raw/lift_pot-pot-lifting-evaluation |
| ``` |
|
|
| The native task still stops at 400 absolute joint-target controls, or native |
| success earlier. The runner's separate 200 calls / prefix 5 / 1,000-control |
| ceiling does not extend that horizon. Native controls, action decisions and |
| variable 250-Hz physics ticks are different counters. Policy persistence rules |
| are not benchmark requirements. No automatic reset, step replay or retry occurs. |
|
|
| Videos are named `head_camera.mp4`, `left_camera.mp4`, `right_camera.mp4` under |
| the model's result namespace, never here. PNG/hash records preserve delivered |
| RGB bytes; 10-fps MP4s present control-boundary samples, not real-time physics |
| or a 10-Hz controller. `frames.jsonl` records physical tick counts. After result |
| transfer, stop this one-episode server process: native `close_env` alone does |
| not attest GPU-memory reclamation. An errored attempt remains an attempt. |
|
|
| ## Regression and remaining scope |
|
|
| ```sh |
| python -B -m unittest discover \ |
| -s benchmarks/simBenchmarks/Robotwin/checks -p 'test_*.py' -v |
| ``` |
|
|
| Tests exercise factory, boundaries, single-attempt lifecycle, counters and |
| content-pinned deployment without native reset. Optional array tests need |
| NumPy. Native reset plus fixed infrastructure controls must be separately |
| reviewed and recorded as non-capability diagnostics before participant use. |
| Randomized settings, the native 50-task/accepted-seed schedule and serial/sharded |
| native parity remain unimplemented. The separate official track below provides |
| upstream bootstrapping for the two declared clean tasks. |
|
|
| Retired StarVLA model integration code remains in Git history, not as a server |
| dependency or supported evaluation entrypoint. |
|
|
| ### Official-source deployment without the historical archive |
|
|
| Use `server-official.example.json` to select the additive official source/runtime |
| track. It shares the same server entrypoint and public qpos14 interface. Its |
| source, assets and runtime identities are separate from the historical archive; |
| see the additive track in [the protocol](EVALUATION_PROTOCOL.md). |
|
|
| 1. Download official RoboTwin commit `ea8b21121ebb3cd201ff5b3fe361944ac94eda3f` |
| and the two pinned official asset archives. Retain the download receipt with |
| `repo_id`, `revision`, `archives: [{name, sha256}]`, and sorted extracted |
| `files: [{path, size_bytes, sha256}]`; asset file paths start with `assets/`. |
| 2. In the selected Python 3.10.12/SAPIEN 3.0.3 runtime, capture installed package |
| bytes without importing the simulator: |
|
|
| ```sh |
| python -B -m benchmarks.simBenchmarks.Robotwin.environment.official capture-runtime \ |
| --output /absolute/new-runtime-snapshot.json > /absolute/runtime-capture.json |
| ``` |
|
|
| 3. Copy the verified source/assets into a fresh owned deployment. `assets-root` |
| is the directory containing `assets/`: |
|
|
| ```sh |
| python -B -m benchmarks.simBenchmarks.Robotwin.environment.official prepare \ |
| --source-root /absolute/official-RoboTwin-checkout \ |
| --assets-root /absolute/downloaded-asset-root \ |
| --asset-receipt /absolute/asset-receipt.json \ |
| --runtime-snapshot /absolute/new-runtime-snapshot.json \ |
| --output /absolute/new-official-deployment |
| ``` |
|
|
| 4. Put its returned manifest digest and root in the official example parameters, |
| then launch the existing `rsi-bench serve --benchmark robotwin` route with |
| `python -B`. The existing native diagnostic gate still applies before policy |
| evaluation; preparation and hashes alone are not a native evaluation. |
|
|
