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rcs-core 0.7.4 versions the asset cache itself (assets/.version, atomic download), so the duobench-side marker and get_prefix bypass are no longer needed. With 0.7.4 they would even keep stale assets: a DUOBENCH_PREFIX with only the duobench marker counts as user-provided for rcs and is not refreshed.
MuJoCo sizes the arena from the scene at rest (15-22 MiB for the DuoBench scenes). Contact-rich episodes exceed it, e.g. ball_maze evals with ~170 contacts and ~1100 constraint rows abort with "mj_stackAlloc: insufficient memory". Use 256 MiB via SimConfig.memory (rcs-core 0.7.4) for all DuoBench scenes. The value is set in the scene config and also applied at env creation when sim_cfg.memory is still automatic, since eval setups commonly replace sim_cfg with a fresh SimConfig; an explicitly set value is kept.
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blocked until rcs is released to 0.7.4