Repository Map¶

AM-Bench separates simulation, imitation learning, command-line workflows, and third-party integrations.

ambench/
  source/ambench/          simulation extension
  source/ambench_learn/     learned-policy and data adapters
  scripts/environments/     registration, smoke tests, teleoperation
  scripts/data/             recording, validation, format conversion
  ext/                      third-party dependencies and policy integrations

Simulation package¶

Path	Responsibility
`tasks/`	Scene setup, observations, rewards, success, and reset logic
`tasks/base/`	Shared `BaseEnv`, configuration, registrations, and robot profiles
`scenes/`	Reusable task-agnostic scene components
`robots/`	Morphology, assets, rotor layouts, and `RobotIO` semantics
`controllers/`	Action pipelines, IK integration, wrench controllers, and allocation
`disturbance/`	Aerodynamic and disturbance models
`policies/scripted/`	Task-aware scripted policies
`recording/`	Canonical LeRobot and video writers
`evaluation/`	Controller tracking and limit-use diagnostics

Imitation-learning package¶

Path	Responsibility
`data/`	Logical resampling and action-semantic validation
`pipeline/`	Dataset and action transformations shared by learned policies
`eval/`	Common evaluator CLI, batching, outputs, and tracking lifecycle
`policies/act/`	ACT datasets, processor, model, training, and evaluation
`policies/dp/`	Diffusion Policy integration and UMI dependency
`policies/pi/`	OpenPI client-side evaluation adapter

The standard installation initializes ext/pyroki and ext/acados for IK and whole-body MPC. ext/openpi supplies the separately managed OpenPI policy environment. Changes to these third-party trees should be isolated from ordinary task or documentation work.

Development-only datasets, checkpoints, videos, experiment wrappers, and generated build outputs are not part of the public package boundary.

Use Commands and Scripts for the maintained public entrypoints. The map above describes source ownership and is not an instruction to run every file under those directories.