Using the Two Snapshots
Code repository: https://github.com/NEBULIS-Lab/MimicX
All preparation commands below are CPU-only. Use Python 3.10+; install the MimicX code and its core dependencies before gate replay. Actual rollout commands require the pinned simulation/tracking environment and allocated compute.
Verify Downloaded Files
Run from the parent of both downloaded snapshot directories:
python MimicX-Policies/prepare.py verify --root MimicX-Policies
python MimicX-Assets/prepare.py verify --root MimicX-Assets
Recreate the Exact Core Inputs
python MimicX-Policies/prepare.py core-inputs --policies MimicX-Policies --assets MimicX-Assets --output paper-core-inputs
python /path/to/MimicX/scripts/reproduction/configure_core.py --assets paper-core-inputs --spec paper-core-inputs/manifest.json --backend /path/to/MimicX/third_party/unitree_rl_mjlab --runtime-python /path/to/tracking/bin/python --output paper-config
Supply the emitted manifest.json explicitly: historical parameter dumps are
sanitized and therefore have updated hashes. Policy and reference hashes remain
unchanged. This command recreates all 22 required core assets across the two
snapshots without duplicate weight storage. Continue with the matrix/HLoop
instructions in the code repository's reproduction guide.
Evaluate a Released Final Policy Without Retraining
python MimicX-Policies/prepare.py prepare-eval --policies MimicX-Policies --assets MimicX-Assets --code /path/to/MimicX --backend /path/to/MimicX/third_party/unitree_rl_mjlab --runtime-python /path/to/tracking/bin/python --trial core__tennis__m3_full_mimicx__seed101 --output tennis-evaluation
Add --video to prepare 1080p video and screenshot output alongside telemetry.
Inspect tennis-evaluation/evaluate.sh, then execute that script inside your
compute allocation. Preparation does not execute it. All trial IDs are listed
in MimicX-Policies/policy_index.json; method names are given alongside internal
join IDs. Use --external-motion for breadth references that are not distributed.
The supplied file must match the registered reference hash.
Replay the Core Execution Gate on Recorded Telemetry
python MimicX-Assets/prepare.py verify-gates --assets MimicX-Assets --code /path/to/MimicX
This temporarily decompresses the recorded per-step CSVs, recomputes rollout
aggregates with the released metric loader and replays the actual gate. It does
not simulate a robot, claim a new performance measurement or perform PPO updates.
Expected: all 12 historical decisions match, with six acceptances and six
incumbent protections. For HLoop, use the core configuration's generated fixed
workload and compare it with archived timing/selection records under evidence/hloop.
Artifact URIs
policies://path: resolve relative to MimicX-Policies.assets://path: resolve relative to MimicX-Assets.external-reference://sha256: acquire the identified licensed motion separately.unbundled://id/name: historical metadata pointer to a file intentionally omitted.
Do not execute archived command strings or Python-tagged configuration dumps. Use the portable code-repository launchers and this preparation helper.