Robo Use (the robouse package)
Copyright 2026 BenchFlow and the Robo Use contributors

Robo Use is licensed under the Apache License 2.0 (LICENSE). It contains code, data and assets from the projects below, each under its own license. Paths are as in the repository. "Wheel" marks what the PyPI wheel ships (task folders as robouse/bundled_tasks/<suite>/, package files under robouse/); "sdist" what the source distribution ships; "repository" what only the repository holds. License texts are in LICENSE (Apache 2.0, which also covers every Apache-2.0 entry below), next to the code they cover, or in licenses/.

Code
====

CaP-X
  https://github.com/capgym/cap-x, commit 53e9966d7a8e2fa7494676772bccc35280f5c0ed
  MIT License, Copyright (c) 2026 Max Fu
  Code: src/robouse/backends/capx/capx_upstream/ (wheel, sdist); the CaP-X tasks' reference solutions and API descriptions in tasks/capx/, tasks/capx-libero/ (sdist) and adapters/capx/ (repository)
  License: src/robouse/backends/capx/capx_upstream/LICENSE; VENDORED.md beside the code lists the files copied and what was changed

PyRoKi (through CaP-X)
  https://github.com/chungmin99/pyroki, examples/pyroki_snippets, as copied into CaP-X
  MIT License, Copyright (c) 2025 Chung Min Kim
  Code: src/robouse/backends/capx/capx_upstream/capx/integrations/motion/pyroki_snippets/ (wheel, sdist)
  License: src/robouse/backends/capx/capx_upstream/capx/integrations/motion/pyroki_snippets/LICENSE

RLE-Bench
  https://github.com/RLE-Bench/RLE-Bench, commit 34a73aa3daebd92a4adc56142b87f2bccda4780d
  MIT License, Copyright (c) 2026 RLE-Bench contributors
  Code: src/robouse/backends/rlebench/rlebench_upstream/ (wheel, sdist)
  License: src/robouse/backends/rlebench/rlebench_upstream/LICENSE; VENDORED.md beside the code

inspect-robots
  https://github.com/robocurve/inspect-robots (src/inspect_robots/mock/cubepick.py)
  MIT License, Copyright (c) 2026 robocurve
  Ported: the CubePick world in src/robouse/backends/cubepick/ (wheel, sdist)
  License: licenses/inspect-robots-MIT.txt

Show-Harness
  https://github.com/showlab/Show-Harness, commit 403f068
  Apache License 2.0
  Prompts and action-unit definitions quoted in src/robouse/harnesses/show_harness/ (wheel, sdist)

BenchFlow
  https://github.com/benchflow-ai/benchflow, commit 0a848984 (benchflow.embodied.spec)
  Apache License 2.0
  Copied: src/robouse/core/embodiment_spec.py (wheel, sdist)

Data
====

LIBERO
  Demonstrations and initial states: https://huggingface.co/datasets/yifengzhu-hf/LIBERO-datasets, Apache License 2.0
  Instructions and scenes: https://github.com/Lifelong-Robot-Learning/LIBERO, MIT License, Copyright (c) 2023 Lifelong Robot Learning
  Files: tasks/libero/ and tasks/libero-90/ (wheel, sdist): the oracle/demo_actions.json files and the task instructions
  License: licenses/LIBERO-MIT.txt (MIT); LICENSE (Apache 2.0)

DexJoCo
  https://huggingface.co/datasets/DexJoCo/DexJoCo-Datasets-Raw (code: https://github.com/brave-eai/dexjoco)
  MIT License, Copyright (c) 2026 Dexjoco contributors
  Files: the demonstration actions in tasks/dexjoco/*/oracle/demo.json (wheel, sdist)
  License: licenses/DexJoCo-MIT.txt

Adroit hand demonstrations (DAPG, D4RL, Minari)
  Recorded for DAPG: https://github.com/aravindr93/hand_dapg, Apache License 2.0
  Released in D4RL under the Creative Commons Attribution 4.0 International license (https://creativecommons.org/licenses/by/4.0/), as re-packaged in Minari's farama-minari/D4RL (https://huggingface.co/datasets/farama-minari/D4RL, revision a0fd465d1d9d, door, hammer, pen and relocate human-v2)
  Changes: one episode per task; actions rounded to 5 decimals; the episode's start state used as the task's initial state
  Files: tasks/adroit/*/oracle/demo.json and the initial state in tasks/adroit/*/task.md (wheel, sdist)
  License: licenses/CC-BY-4.0.txt (CC BY 4.0); LICENSE (Apache 2.0)

MyoSuite
  https://github.com/MyoHub/myosuite, NPG baseline policies (myosuite/agents/baslines_NPG)
  Apache License 2.0
  Files: tasks/myosuite/*/oracle/policy.json (wheel, sdist)

StationeryBench
  https://github.com/robocurve/stationerybench, commit 43d5dd3
  MIT License, Copyright (c) 2026 robocurve
  Files: the instructions and stage rubrics in tasks/stationerybench/ (sdist) and adapters/stationerybench/ (repository)
  License: licenses/StationeryBench-MIT.txt

RoboDojo
  https://github.com/RoboDojo-Benchmark/RoboDojo, commit 726e9aa
  MIT License, Copyright (c) 2026 RoboDojo Contributors. At the pinned commit the LICENSE file is MIT while the README named a non-commercial research license; upstream made the MIT terms consistent in commit cb2a37d (2026-10-08).
  Files: the task instructions in tasks/robodojo/ (sdist) and adapters/robodojo/ (repository)
  License: licenses/RoboDojo-MIT.txt
  Running these tasks needs cuRobo (NVIDIA, non-commercial license) and NVIDIA Isaac Sim (NVIDIA EULA), which Robo Use does not include.

BEHAVIOR-1K
  https://github.com/StanfordVL/BEHAVIOR-1K (docs/challenge/task_data.json and BDDL activity definitions)
  MIT License, Copyright (c) 2023 Stanford Vision and Learning Group
  Files: adapters/behavior/challenge_tasks.json and tasks/behavior/ (repository)
  License: licenses/BEHAVIOR-1K-MIT.txt
  Running these tasks needs the BEHAVIOR Data Bundle (non-commercial academic research only, no redistribution) and NVIDIA Isaac Sim (NVIDIA EULA), which Robo Use does not include.

Assets
======

SO-ARM100 (SO-101 arm)
  https://github.com/TheRobotStudio/SO-ARM100, commit 5f6d2b876a53a4872e405b991dd925556c9e38a4 (Simulation/SO101/so101_new_calib.urdf)
  Apache License 2.0
  Files: the kinematic chain in src/robouse/real/data/so101_chain.json (wheel, sdist)

MakerMods Metal arm
  https://github.com/makermods-robotics/metal-python-ros, commit ef4181f1305cbcfc63431d3bcfb96f5fb7f72763 (the arm's URDFs)
  The repository states no license, and MakerMods has not confirmed terms for this use.
  Files: the kinematic chain (joint origins, axes and limits) in src/robouse/real/data/metal_chain.json (wheel, sdist)

MuJoCo Menagerie
  https://github.com/google-deepmind/mujoco_menagerie, commit 8161bba
  Franka Emika Panda and Skydio X2: Apache License 2.0. ALOHA 2: BSD 3-Clause License, Copyright (c) 2023, Trossen Robotics.
  Files: assets/menagerie/ (repository), each model with its LICENSE beside it; provenance.json and skydio_x2/PROVENANCE.json list every file and its SHA-256 (also in the wheel, as robouse/assets_provenance/)

Documentation images
  docs/img/suites/ and docs/suites/img/ (repository) are renders of each suite's simulator scenes, made with the assets of the projects named on each suite's page. docs/img/suites/robocasa.webp shows RoboCasa's kitchen assets (https://github.com/robocasa/robocasa), which are licensed under CC BY 4.0. docs/img/suites/gpu-isaaclab.webp and docs/img/suites/gpu/il-*.jpg show NVIDIA Isaac Lab assets (NVIDIA's asset terms).

Downloaded at run time, not redistributed
=========================================

robouse fetch-assets and the suites download these at pinned revisions, with SHA-256 checks, under their own licenses: MuJoCo Menagerie robot models (BSD-3-Clause, Apache-2.0 or MIT, each with its LICENSE), RoboCasa assets (CC BY 4.0), the HumanoidBench H1 walking policy (unitree_rl_gym, BSD-3-Clause), and Meta-World's scripted policies (MIT), which `robouse export` copies into exported reference solutions together with Meta-World's license.

Robo Use's own RoboHarm suite (tasks/roboharm/) was written independently. It cites Robocurve's RoboHarm (https://github.com/robocurve/roboharm, CC BY-NC 4.0) for its design and contains none of its text, code or assets.
