CLI and Configuration

Run rpent --robot <name> --help for the full options of an environment. RPent supplies shared options; each environment adds task selection, resource paths, and service settings.

rpent --help
rpent --robot libero --help
rpent --robot robocasa --help
rpent --robot robotwin --help

Common Options

These options control the planner, memory, output directory, and Dashboard.

Option	Default	Meaning
--robot	—	Select a discovered robot or simulator.
--planner	api	api, claude_code, codex, or flash.
--model	—	api requires a provider prefix; SDK planners use their backend defaults.
--max-turns	100	Planner turn limit.
--max-tokens	8192	api only: token limit per model response.
--reasoning-effort	none	Reasoning effort for api, claude_code, and codex: none, low, medium, high, or xhigh. Disabling reasoning reduced the average runtime from approximately 13.2 to 7.9 minutes (about 40%) in our LIBERO Pro Long evaluations. Higher effort may improve task success rate. Supported levels ultimately depend on the selected model.
--planner-timeout-s	—	Defaults to CODEX_TIMEOUT_S (Codex only), then CELL_TIMEOUT_S, then 1200 seconds; terminal interactive API/Claude sessions are exempt.
--base-url	—	api only: override the model endpoint. SDK planners use their own environment variables.
--no-images	false	api only: omit images from model requests.
--claude-code-max-budget-usd	—	Claude Code dollar budget; defaults to MAX_BUDGET_USD or 10.
--output-dir	—	Artifact directory; the environment generates the default name.
--memory-profile	—	Defaults to hf for evaluation and local for exploration.
--memory-dir	—	Local memory directory; use with the local profile or exploration.
--explore	false	Enable exploration on supported environments.
--dashboard	false	Start a Dashboard session.
--dashboard-host	127.0.0.1	Dashboard bind address.
--dashboard-port	0	0 selects an available port.
--dashboard-language	en	en or zh-cn.
--verbose	false	Enable DEBUG logging.

Environment Options

LIBERO selects tasks with --suite, --task, --seed, and --libero-type; the variant defaults to LIBERO_TYPE or pro. RoboCasa365 and RoboTwin use --task-name. Franka uses --task-id and --robot-config. See LIBERO, RoboCasa365, RoboTwin, Single-Arm Franka, and Dual-Arm Franka for details.

--env-endpoint, --vla-endpoint, and LIBERO’s --sam3-endpoint connect to existing services using [protocol://]host:port; the default protocol is http. See Remote Services and Parallel Runs for GPU assignment and remote services.

The following defaults apply to LIBERO; check each other environment’s --help for its defaults.

LIBERO option	Default	Meaning
--seed	0	Environment random seed.
--max-episode-steps	10000	Environment step limit, separate from planner turns (--max-turns).

Model-Service Environment Variables

Set the credentials and endpoint for your chosen planner in the launch shell.

Planner	API key	Endpoint
api / Anthropic; claude_code	ANTHROPIC_API_KEY	ANTHROPIC_BASE_URL
api / OpenAI	OPENAI_API_KEY	OPENAI_BASE_URL
codex	CODEX_API_KEY	CODEX_BASE_URL

Codex can also reuse existing Codex authentication. See Planners and Model Services for model selection, endpoint precedence, and local server examples. Use rpent-check-llm for connectivity checks and rpent-memory for the operations in Memory and Exploration.

Each environment reads its own resource variables, including LIBERO’s PI05_CHECKPOINT_PATH and SAM3_CHECKPOINT_PATH, RoboCasa365’s ROBOCASA_ASSETS_PATH, and RoboTwin’s ROBOTWIN_ASSETS_PATH and LINGBOT_MODEL_PATH.

Installation Extras

From the repository root, use uv pip install -e ".[<extra>]" to install an optional dependency group. Usually, the environment extra supplies the model and runtime dependencies listed below. Download assets and weights as described in the environment guide.

Extra	Dependencies	Guide
.[libero]	Standard LIBERO, Pi0.5, SAM3, and RLinf runtime.	LIBERO
.[libero-pro]	LIBERO-PRO and the LIBERO model/runtime dependencies.	LIBERO
.[libero-plus]	LIBERO-plus, Pi0.5, SAM3, and RLinf runtime.	LIBERO
.[robocasa]	RoboCasa365, RLDX-1, Robosuite, and RLinf runtime.	RoboCasa365
.[robotwin]	RoboTwin runtime, LingBot-VLA, cuRobo, and RLinf runtime.	RoboTwin
.[franka]	RLinf Franka integration, OpenPI, and Franka control dependencies.	Dual-Arm Franka
.[rlinf]	RLinf runtime (rpent-rlinf).	Add a Robot or Simulator
.[sam3]	SAM3 segmentation dependencies; download weights separately.	LIBERO
.[molmo]	Molmo grounding dependencies; use a separate environment.	Flash Mode
.[flywheel]	LeRobot dependencies for trajectory export.	Data Flywheel
.[test]	Lightweight test dependencies.	Contributing

Install only one LIBERO variant per virtual environment. RoboCasa uses Python 3.10; Quick Start and the RoboTwin examples use Python 3.11. Follow the corresponding setup page.

Output Files

--output-dir selects the run directory. Without it, LIBERO writes to logs/<timestamp>_<suite>_t<task>_s<seed>/ under the repository; other environments describe their directory names on their own pages.

The table uses LIBERO as an example. Files depend on the environment, recording, and run outcome.

File or path	Purpose
transcript_*.json	Planner conversation, tool calls, and completion information.
episode.mp4	Episode video.
run.log	RPent process log.
env_server.log / vla_server.log / sam3_server.log	Logs from environment and model servers started by this run.
*_recipe.jsonl	Action sequence exported from a successful task; failed runs may not produce this file.
states.json	Internal EnvState manifest. Inspect states through the Dashboard or view_env_state; callers should not parse this file directly.
agentview_depth.npz/00.npz	Example step artifact: the directory uses the logical artifact name and contains numbered steps such as 00.npz and 01.npz.

Run-level files live at the output root; step observations live in their own subdirectories. Use the native success criterion documented for each environment; a recipe, video, or planner summary does not replace it.