Create README.md

README.md

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+---
+license: mit
+tags:
+- robotics
+- imitation-learning
+- robot-manipulation
+- long-horizon-manipulation
+- non-markovian-control
+- rmbench
+- chronos
+- pytorch
+---
+
+# Chronos RMBench Checkpoints
+
+This repository provides official Chronos checkpoints and matching normalization files for RMBench experiments.
+
+Chronos is a physics-informed full-history imitation learning framework for non-Markovian long-horizon robot manipulation.
+
+Links:
+
+- [Project Page](https://chronos-manipulation.github.io/)
+- [arXiv Paper](https://arxiv.org/abs/2606.30318)
+- [GitHub Code](https://github.com/yulinzhouZYL/Chronos)
+
+---
+
+## Files
+
+This repository contains checkpoint and scaler files for multiple RMBench tasks.
+
+For each task, the checkpoint and scaler must be used together:
+
+```text
+checkpoint file: last.ckpt
+scaler file    : scaler_<task_name>_ee_3d.pth
+```
+
+For example, for `cover_blocks`:
+
+```text
+last.ckpt
+scaler_cover_blocks_ee_3d.pth
+```
+
+If a checkpoint is downloaded with a task-specific filename, please rename it to `last.ckpt` after placing it in the expected local checkpoint directory.
+
+---
+
+## Action Contract
+
+These checkpoints use the Chronos RMBench EE-pose action representation.
+
+The action is a 16D dual-arm EE pose + gripper vector:
+
+```text
+left EE pose  : x, y, z, qw, qx, qy, qz
+left gripper  : 1 dimension
+right EE pose : x, y, z, qw, qx, qy, qz
+right gripper : 1 dimension
+```
+
+The policy should be evaluated with RMBench EE-pose control:
+
+```python
+TASK_ENV.take_action(action, action_type="ee")
+```
+
+These are not qpos replay checkpoints.
+
+---
+
+## Expected Local Layout
+
+Please place each downloaded checkpoint and scaler in the Chronos repository as follows:
+
+```text
+RMBench/policy/Chronos/
+├── scaler_<task_name>_ee_3d.pth
+└── checkpoints/
+    └── <task_name>/
+        └── EE_16/
+            └── last.ckpt
+```
+
+For example, for `cover_blocks`:
+
+```text
+RMBench/policy/Chronos/
+├── scaler_cover_blocks_ee_3d.pth
+└── checkpoints/
+    └── cover_blocks/
+        └── EE_16/
+            └── last.ckpt
+```
+
+---
+
+## Evaluation
+
+Before evaluation, make sure `RMBench/policy/Chronos/deploy_policy.yml` points to the correct checkpoint and scaler.
+
+For `cover_blocks`, use:
+
+```yaml
+ckpt_path: "policy/Chronos/checkpoints/cover_blocks/EE_16/last.ckpt"
+scaler_path: "policy/Chronos/scaler_cover_blocks_ee_3d.pth"
+temporal_agg: true
+gpu_id: 0
+```
+
+Then run:
+
+```bash
+cd RMBench/policy/Chronos
+bash eval.sh cover_blocks demo_clean Chronos 42 0
+```
+
+For another task, replace `cover_blocks` with the corresponding RMBench task name and use the matching scaler:
+
+```yaml
+ckpt_path: "policy/Chronos/checkpoints/<task_name>/EE_16/last.ckpt"
+scaler_path: "policy/Chronos/scaler_<task_name>_ee_3d.pth"
+temporal_agg: true
+gpu_id: 0
+```
+
+---
+
+## Important Notes
+
+- The checkpoint and scaler must come from the same task.
+- The scaler filename should follow the pattern `scaler_<task_name>_ee_3d.pth`.
+- These checkpoints are for EE-pose control, not qpos replay.
+- Please use the Chronos-compatible `demo_clean.yml` included in the GitHub repository.
+- If offline validation looks reasonable but closed-loop evaluation fails, first check whether `deploy_policy.yml` points to the correct scaler.
+
+---
+
+## Citation
+
+If you find Chronos useful, please cite:
+
+```bibtex
+@article{zhou2026chronos,
+  title={Chronos: A Physics-Informed Full-History Framework for Non-Markovian Long-Horizon Manipulation},
+  author={Zhou, Yulin and Wang, Yimeng and Wang, Nengyu and Xing, Shaojia and Tu, Shiyun and Li, Xiang and Zhang, Jingkai and Jiang, Ningbo and Lin, Yuankai and Yang, Hua and Zeng, Xiangrui and Yin, Zhouping},
+  journal={arXiv preprint arXiv:2606.30318},
+  year={2026}
+}
+```
+
+---
+
+## License
+
+This checkpoint repository is released for research use.
+
+RMBench benchmark components follow the original RMBench license.