Acknowledgements

Our codebase is built using resources from the following projects:

• Our framework is built on top of the code release from MimicLabs

• Our data generation code is based on MimicGen

• We train our PI models using OpenPI

• We use LeRobot as our go-to dataset format

• We sourced most of our assets from RoboCasa

• The BDDL format we used is a descendant of that from Libero

• We make heavy use of tyro for command line argument parsing