Installation#

RPent installs with a single pip install and provides several optional dependency combinations.

Prerequisites#

  • Linux with an NVIDIA GPU.

  • A CUDA 12.x-compatible NVIDIA driver.

  • Python 3.10–3.12.

  • git, bash, and a working C toolchain.

You will also want:

  • An API key for at least one LLM provider — Anthropic, OpenAI, or an OpenAI-compatible chat endpoint — for the planner.

1. Install RPent with pip#

Clone RPent (for the CLI and run configs) and install with the extra for the stack you want:

git clone https://github.com/RLinf/RPent rpent && cd rpent
# Recommended default:
pip install -e ".[libero-pro]"  # LIBERO-PRO

Other environment configurations are available when needed:

pip install -e ".[robocasa]"    # RoboCasa
pip install -e ".[robotwin]"    # RoboTwin

.[libero-pro] is the recommended default.

Available extras:

Extra

Installs

.[libero]

Standard LIBERO + openpi Pi0.5 VLA + SAM 3.0 + RLinf runtime

.[libero-pro]

LIBERO-PRO + openpi Pi0.5 VLA + SAM 3.0 + RLinf runtime

.[libero-plus]

LIBERO-plus + openpi Pi0.5 VLA + SAM 3.0 + RLinf runtime

.[robocasa]

RoboCasa365 simulator + the RLDX-1 VLA; see RoboCasa

.[robotwin]

RoboTwin simulation and LingBot inference dependencies; see RoboTwin

.[rlinf]

RLinf runtime only

.[sam3]

SAM 3.0 only

2. Download the assets required to run LIBERO#

The Python packages installed with pip do not include the large resource files required to run LIBERO. Choose one command based on the extra installed above:

libero-download-assets --skip-existing      # .[libero]
liberopro-download-assets --skip-existing   # .[libero-pro]
liberoplus-download-assets --skip-existing  # .[libero-plus]

These resources usually need to be downloaded only once; --skip-existing skips files that are already present.

Tip

If your connection to Hugging Face is slow, download through the mirror by prefixing the command with HF_ENDPOINT:

HF_ENDPOINT=https://hf-mirror.com liberopro-download-assets --skip-existing

3. (Optional) Real-world robot dependencies#

Franka and SO-101 support is being rolled in; when it lands, each robot’s robot package will live under robots/<name>/ with its own README.md describing the SDK / firmware requirements. See Franka and SO-101 for the current status.

Checking the installation#

The quickest way to confirm everything is wired correctly is to run one LIBERO task end-to-end — see Quick Start. If that succeeds, the env server, VLA server, SAM3 server, and agent are all healthy.

If something breaks:

  • The env server log is at <output_dir>/env_server.log.

  • The VLA server writes to <output_dir>/vla_server.log.

  • The SAM3 server writes to <output_dir>/sam3_server.log.

  • The agent’s own run log lives at <output_dir>/run.log.

These logs are always in that per-run scratch directory, so a failed run is self-contained and easy to inspect.