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feat(embodiment): support OmniGibson env for BEHAVIOR-1K benchmark #213

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guozhen1997 wants to merge 30 commits into RLinf:main from guozhen1997:feature/support_behavior

+2,065 −190

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guozhen1997 commented Oct 27, 2025 •

edited by andylin-hao

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Description

Support OmniGibson env;
Support save video and evaluation in OmniGibson.

Motivation and Context

How has this been tested?

Additional information (optional, e.g., figures and logs):

Types of changes

Bug fix (non-breaking change which fixes an issue)
New feature (non-breaking change which adds functionality)
Documentation update (Document-only update)
Breaking change (fix or feature that would cause existing functionality to not work as expected)

Checklist:

My code follows the code style of this project.
My change requires a change to the documentation.
I have updated the documentation accordingly.
I have added tests to cover my changes.
All new and existing tests passed.

guozhen1997 requested review from Lin-xs, XuS1994 and andylin-hao as code owners

October 27, 2025 06:48

QuanluZhang reviewed

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rlinf/envs/omnigibson/omnigibson_env.py Outdated Show resolved Hide resolved

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rlinf/models/embodiment/openvla_oft_action_model.py Outdated Show resolved Hide resolved

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rlinf/envs/behavior/behavior_env.py Show resolved Hide resolved

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Lin-xs approved these changes

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XuS1994 approved these changes

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XuS1994 added the run-ci label

andylin-hao reviewed

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XuS1994 force-pushed the feature/support_behavior branch from 7964413 to c4224d6 Compare

October 29, 2025 03:53

Qiza-lyhm reviewed

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guozhen1997 and others added 6 commits

October 30, 2025 11:49


          feat: support omnigibson env

Signed-off-by: guozhen1997 <[email protected]>


          feat: add env common utils, fix ruff error, update yaml

b2f0a88

Signed-off-by: guozhen1997 <[email protected]>


          feat: support eval and save video for behavior env

799b16c

Signed-off-by: xusi <[email protected]>


          feat: add docs, fix path error

5ed23da

Signed-off-by: xusi <[email protected]>


          feat: support behavior env for training openvlaoft model

1504b3d

Signed-off-by: xusi <[email protected]>


          feat: support behavior env for training openvlaoft model

796c7cd

Signed-off-by: xusi <[email protected]>

XuS1994 added 19 commits

October 30, 2025 11:50


          feat: support behavior env for training openvlaoft model

a7c083f

Signed-off-by: xusi <[email protected]>


          feat: add cn docs

8131a55

Signed-off-by: xusi <[email protected]>


          feat: add behavior version

b33e3bd

Signed-off-by: xusi <[email protected]>


          feat: rewrite behavior docs

e155d21

Signed-off-by: xusi <[email protected]>


          feat: add beahvior jpg

55bac9a

Signed-off-by: xusi <[email protected]>


          feat: add beahvior jpg

34fae6f

Signed-off-by: xusi <[email protected]>


          feat: add beahvior jpg

03df210

Signed-off-by: xusi <[email protected]>


          feat: add beahvior jpg

f86a77a

Signed-off-by: xusi <[email protected]>


          feat: add beahvior jpg

5f0b48c

Signed-off-by: xusi <[email protected]>


          fix: solve some comments and recheck ruff

e999727

Signed-off-by: xusi <[email protected]>


          fix: add behavior_task.jsonl

8c2de14

Signed-off-by: xusi <[email protected]>


          fix: add omnigibson install in dockerfile

b556922

Signed-off-by: xusi <[email protected]>


          fix: add omnigibson install in dockerfile

d4642e6

Signed-off-by: xusi <[email protected]>


          fix: add num_envs back

c4c4241

Signed-off-by: xusi <[email protected]>


          fix: queue_name to key

93b2eef

Signed-off-by: xusi <[email protected]>


          fix: queue_name to key

941af3b

Signed-off-by: xusi <[email protected]>


          fix: solve CI bug

9cd4b95

Signed-off-by: xusi <[email protected]>


          fix: solve CI bug

Signed-off-by: xusi <[email protected]>


          fix: solve CI bug

45be3ba

Signed-off-by: xusi <[email protected]>

XuS1994 force-pushed the feature/support_behavior branch from 14ee5b3 to 45be3ba Compare

October 30, 2025 03:51


          feat: edit docs

88dd12a

Signed-off-by: xusi <[email protected]>

Qiza-lyhm reviewed

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XuS1994 and others added 4 commits

October 30, 2025 15:04


          fix: rename yaml config

dd6da7b

Signed-off-by: xusi <[email protected]>


          fix: add behavior requirements and update docs

f827adb

Signed-off-by: Hao Lin <[email protected]>


          fix: download assets tool

Signed-off-by: Hao Lin <[email protected]>


          fix: reasoning dockerfile

e77f196

Signed-off-by: Hao Lin <[email protected]>

andylin-hao approved these changes

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andylin-hao assigned andylin-hao, guozhen1997 and XuS1994

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Reviewers

QuanluZhang QuanluZhang left review comments

andylin-hao andylin-hao approved these changes

Lin-xs Lin-xs approved these changes

XuS1994 XuS1994 approved these changes

+1 more reviewer

Qiza-lyhm Qiza-lyhm left review comments

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run-ci