Memory Management#

RPent memory is maintained per robot and lets runs reuse already-validated task experience and operating strategy instead of rediscovering it from scratch each time.

Run modes#

Memory is used differently in the two run modes:

  • Evaluation reads existing memory but does not update it.

  • Exploration generates and updates local memory. It is currently supported only by LIBERO.

See the LIBERO exploration guide for the detailed Exploration and local-memory Evaluation workflow.

Directory layout#

Memory published to Hugging Face and memory prepared locally for evaluation use the same directory structure:

<memory-root>/
|-- MEMORY.md
|-- global/
|-- suite/
`-- task_only/
    |-- <cell>.json
    |-- <cell>_recipe.jsonl
    `-- <task_key>.md

The default local root is memory/<robot>/; on the Hugging Face dataset the same content lives under the <robot>/ subdirectory. A custom --memory-dir may point at any directory laid out like the tree above.

Every subtree is optional; a robot ships only the directories it uses:

  • global/ holds cross-task lessons distilled from successful experience.

  • suite/ holds task-level experience accumulated during exploration, organised by suite and reusable across seeds of the same task.

  • task_only/ holds same-task references such as the audit and recipe produced by successful runs.

  • MEMORY.md indexes global/ and suite/.

During evaluation the planner may read only the current robot’s memory. Missing a layer does not stop a task from running.

Using memory#

By default RPent syncs the current robot’s memory from the Hugging Face dataset RLinf/RPent-memory into memory/<robot>/. The dataset is public, so a fresh clone downloads it without a token. Set HF_HUB_OFFLINE=1 to skip the sync and use the local copy only. Memory is optional: if a robot has none on the dataset, or the sync fails, the run continues with whatever is on disk.

You can also prepare local memory yourself with the same directory structure and point the run at it through the environment’s --memory-dir option or local memory configuration. Hugging Face memory and local memory use the same directory layout, differing only in where they come from.

Contributing memory#

Memory on Hugging Face is reviewed and published by RPent maintainers; the repository ships no self-serve upload path. To contribute a new or updated memory note, open an RPent issue with the proposed memory file and its provenance, and a maintainer will review and publish accepted files to RLinf/RPent-memory.