├── .gitignore ├── LICENCE.txt ├── README.md ├── assets ├── CleanDiffuser.pdf ├── framework.png └── github_logo.jpg ├── cleandiffuser ├── __init__.py ├── classifier │ ├── __init__.py │ ├── base.py │ ├── mse_classifier.py │ ├── qgpo_classifier.py │ └── rew_classifiers.py ├── dataset │ ├── base_dataset.py │ ├── block_push_dataset.py │ ├── d4rl_antmaze_dataset.py │ ├── d4rl_kitchen_dataset.py │ ├── d4rl_maze2d_dataset.py │ ├── d4rl_mujoco_dataset.py │ ├── dataset_utils.py │ ├── imagecodecs.py │ ├── kitchen_dataset.py │ ├── pusht_dataset.py │ ├── replay_buffer.py │ ├── robomimic_dataset.py │ ├── robomimic_rl_dataset.py │ └── rotation_conversions.py ├── diffusion │ ├── __init__.py │ ├── basic.py │ ├── consistency_model.py │ ├── ddim.py │ ├── ddpm.py │ ├── diffusionsde.py │ ├── dpmsolver.py │ ├── dpmsolver_discrete.py │ ├── edm.py │ ├── edmddim.py │ ├── newedm.py │ ├── rectifiedflow.py │ ├── veode.py │ ├── vpode.py │ └── vpsde.py ├── env │ ├── async_vector_env.py │ ├── block_pushing │ │ ├── __init__.py │ │ ├── assets │ │ │ ├── block.urdf │ │ │ ├── block2.urdf │ │ │ ├── blocks │ │ │ │ ├── blue_cube.urdf │ │ │ │ ├── cube.obj │ │ │ │ ├── green_star.urdf │ │ │ │ ├── moon.obj │ │ │ │ ├── pentagon.obj │ │ │ │ ├── red_moon.urdf │ │ │ │ ├── star.obj │ │ │ │ └── yellow_pentagon.urdf │ │ │ ├── insert.urdf │ │ │ ├── plane.obj │ │ │ ├── suction │ │ │ │ ├── base.obj │ │ │ │ ├── cylinder.urdf │ │ │ │ ├── cylinder_real.urdf │ │ │ │ ├── head.obj │ │ │ │ ├── mid.obj │ │ │ │ ├── suction-base.urdf │ │ │ │ ├── suction-head-long.urdf │ │ │ │ ├── suction-head.urdf │ │ │ │ └── tip.obj │ │ │ ├── workspace.urdf │ │ │ ├── workspace_real.urdf │ │ │ ├── zone.obj │ │ │ ├── zone.urdf │ │ │ └── zone2.urdf │ │ ├── block_pushing.py │ │ ├── block_pushing_discontinuous.py │ │ ├── block_pushing_multimodal.py │ │ ├── oracles │ │ │ ├── discontinuous_push_oracle.py │ │ │ ├── multimodal_push_oracle.py │ │ │ ├── oriented_push_oracle.py │ │ │ ├── pushing_info.py │ │ │ └── reach_oracle.py │ │ └── utils │ │ │ ├── pose3d.py │ │ │ ├── utils_pybullet.py │ │ │ └── xarm_sim_robot.py │ ├── kitchen │ │ ├── __init__.py │ │ ├── base.py │ │ ├── kitchen_lowdim_wrapper.py │ │ ├── kitchen_util.py │ │ ├── relay_policy_learning │ │ │ ├── adept_envs │ │ │ │ ├── .pylintrc │ │ │ │ ├── .style.yapf │ │ │ │ └── adept_envs │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── base_robot.py │ │ │ │ │ ├── franka │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── assets │ │ │ │ │ │ └── franka_kitchen_jntpos_act_ab.xml │ │ │ │ │ ├── kitchen_multitask_v0.py │ │ │ │ │ └── robot │ │ │ │ │ │ ├── franka_config.xml │ │ │ │ │ │ └── franka_robot.py │ │ │ │ │ ├── mujoco_env.py │ │ │ │ │ ├── robot_env.py │ │ │ │ │ ├── simulation │ │ │ │ │ ├── module.py │ │ │ │ │ ├── renderer.py │ │ │ │ │ └── sim_robot.py │ │ │ │ │ └── utils │ │ │ │ │ ├── config.py │ │ │ │ │ ├── configurable.py │ │ │ │ │ ├── constants.py │ │ │ │ │ ├── parse_demos.py │ │ │ │ │ └── quatmath.py │ │ │ ├── adept_models │ │ │ │ ├── .gitignore │ │ │ │ ├── CONTRIBUTING.public.md │ │ │ │ ├── LICENSE │ │ │ │ ├── README.public.md │ │ │ │ ├── __init__.py │ │ │ │ ├── kitchen │ │ │ │ │ ├── assets │ │ │ │ │ │ ├── backwall_asset.xml │ │ │ │ │ │ ├── backwall_chain.xml │ │ │ │ │ │ ├── counters_asset.xml │ │ │ │ │ │ ├── counters_chain.xml │ │ │ │ │ │ ├── hingecabinet_asset.xml │ │ │ │ │ │ ├── hingecabinet_chain.xml │ │ │ │ │ │ ├── kettle_asset.xml │ │ │ │ │ │ ├── kettle_chain.xml │ │ │ │ │ │ ├── microwave_asset.xml │ │ │ │ │ │ ├── microwave_chain.xml │ │ │ │ │ │ ├── oven_asset.xml │ │ │ │ │ │ ├── oven_chain.xml │ │ │ │ │ │ ├── slidecabinet_asset.xml │ │ │ │ │ │ └── slidecabinet_chain.xml │ │ │ │ │ ├── counters.xml │ │ │ │ │ ├── hingecabinet.xml │ │ │ │ │ ├── kettle.xml │ │ │ │ │ ├── kitchen.xml │ │ │ │ │ ├── meshes │ │ │ │ │ │ ├── burnerplate.stl │ │ │ │ │ │ ├── burnerplate_mesh.stl │ │ │ │ │ │ ├── cabinetbase.stl │ │ │ │ │ │ ├── cabinetdrawer.stl │ │ │ │ │ │ ├── cabinethandle.stl │ │ │ │ │ │ ├── countertop.stl │ │ │ │ │ │ ├── faucet.stl │ │ │ │ │ │ ├── handle2.stl │ │ │ │ │ │ ├── hingecabinet.stl │ │ │ │ │ │ ├── hingedoor.stl │ │ │ │ │ │ ├── hingehandle.stl │ │ │ │ │ │ ├── hood.stl │ │ │ │ │ │ ├── kettle.stl │ │ │ │ │ │ ├── kettlehandle.stl │ │ │ │ │ │ ├── knob.stl │ │ │ │ │ │ ├── lightswitch.stl │ │ │ │ │ │ ├── lightswitchbase.stl │ │ │ │ │ │ ├── micro.stl │ │ │ │ │ │ ├── microbutton.stl │ │ │ │ │ │ ├── microdoor.stl │ │ │ │ │ │ ├── microefeet.stl │ │ │ │ │ │ ├── microfeet.stl │ │ │ │ │ │ ├── microhandle.stl │ │ │ │ │ │ ├── microwindow.stl │ │ │ │ │ │ ├── oven.stl │ │ │ │ │ │ ├── ovenhandle.stl │ │ │ │ │ │ ├── oventop.stl │ │ │ │ │ │ ├── ovenwindow.stl │ │ │ │ │ │ ├── slidecabinet.stl │ │ │ │ │ │ ├── slidedoor.stl │ │ │ │ │ │ ├── stoverim.stl │ │ │ │ │ │ ├── tile.stl │ │ │ │ │ │ └── wall.stl │ │ │ │ │ ├── microwave.xml │ │ │ │ │ ├── oven.xml │ │ │ │ │ ├── slidecabinet.xml │ │ │ │ │ └── textures │ │ │ │ │ │ ├── marble1.png │ │ │ │ │ │ ├── metal1.png │ │ │ │ │ │ ├── tile1.png │ │ │ │ │ │ └── wood1.png │ │ │ │ └── scenes │ │ │ │ │ ├── basic_scene.xml │ │ │ │ │ └── textures │ │ │ │ │ ├── white_marble_tile.png │ │ │ │ │ └── white_marble_tile2.png │ │ │ └── third_party │ │ │ │ └── franka │ │ │ │ ├── LICENSE │ │ │ │ ├── README.md │ │ │ │ ├── assets │ │ │ │ ├── actuator0.xml │ │ │ │ ├── actuator1.xml │ │ │ │ ├── assets.xml │ │ │ │ ├── basic_scene.xml │ │ │ │ ├── chain0.xml │ │ │ │ ├── chain0_overlay.xml │ │ │ │ ├── chain1.xml │ │ │ │ └── teleop_actuator.xml │ │ │ │ ├── bi-franka_panda.xml │ │ │ │ ├── franka_panda.png │ │ │ │ ├── franka_panda.xml │ │ │ │ ├── franka_panda_teleop.xml │ │ │ │ └── meshes │ │ │ │ ├── collision │ │ │ │ ├── finger.stl │ │ │ │ ├── hand.stl │ │ │ │ ├── link0.stl │ │ │ │ ├── link1.stl │ │ │ │ ├── link2.stl │ │ │ │ ├── link3.stl │ │ │ │ ├── link4.stl │ │ │ │ ├── link5.stl │ │ │ │ ├── link6.stl │ │ │ │ └── link7.stl │ │ │ │ └── visual │ │ │ │ ├── finger.stl │ │ │ │ ├── hand.stl │ │ │ │ ├── link0.stl │ │ │ │ ├── link1.stl │ │ │ │ ├── link2.stl │ │ │ │ ├── link3.stl │ │ │ │ ├── link4.stl │ │ │ │ ├── link5.stl │ │ │ │ ├── link6.stl │ │ │ │ └── link7.stl │ │ └── v0.py │ ├── pusht │ │ ├── __init__.py │ │ ├── pusht_env.py │ │ ├── pusht_image_env.py │ │ ├── pusht_keypoints_env.py │ │ ├── pymunk_keypoint_manager.py │ │ └── pymunk_override.py │ ├── robomimic │ │ ├── robomimic_image_wrapper.py │ │ └── robomimic_lowdim_wrapper.py │ ├── utils.py │ └── wrapper.py ├── invdynamic │ ├── __init__.py │ ├── common.py │ └── mlp.py ├── nn_classifier │ ├── __init__.py │ ├── base_nn_classifier.py │ ├── half_dit.py │ ├── half_jannerunet.py │ └── mlp.py ├── nn_condition │ ├── __init__.py │ ├── base_nn_condition.py │ ├── early_conv_vit.py │ ├── mlp.py │ ├── multi_image_condition.py │ ├── pearce_obs_condition.py │ ├── positional.py │ └── resnets.py ├── nn_diffusion │ ├── __init__.py │ ├── base_nn_diffusion.py │ ├── chitransformer.py │ ├── chiunet.py │ ├── dit.py │ ├── dqlmlp.py │ ├── dvinvmlp.py │ ├── idqlmlp.py │ ├── jannerunet.py │ ├── mlps.py │ ├── pearcemlp.py │ ├── pearcetransformer.py │ └── sfbc_unet.py └── utils │ ├── __init__.py │ ├── building_blocks.py │ ├── crop_randomizer.py │ ├── iql.py │ ├── normalizers.py │ ├── tensor_utils.py │ ├── typings.py │ └── utils.py ├── configs ├── adaptdiffuser │ ├── antmaze │ │ ├── antmaze.yaml │ │ └── task │ │ │ ├── antmaze-large-diverse-v2.yaml │ │ │ ├── antmaze-large-play-v2.yaml │ │ │ ├── antmaze-medium-diverse-v2.yaml │ │ │ └── antmaze-medium-play-v2.yaml │ ├── kitchen │ │ ├── kitchen.yaml │ │ └── task │ │ │ ├── kitchen-mixed-v0.yaml │ │ │ └── kitchen-partial-v0.yaml │ └── mujoco │ │ ├── mujoco.yaml │ │ └── task │ │ ├── halfcheetah-medium-expert-v2.yaml │ │ ├── halfcheetah-medium-replay-v2.yaml │ │ ├── halfcheetah-medium-v2.yaml │ │ ├── hopper-medium-expert-v2.yaml │ │ ├── hopper-medium-replay-v2.yaml │ │ ├── hopper-medium-v2.yaml │ │ ├── walker2d-medium-expert-v2.yaml │ │ ├── walker2d-medium-replay-v2.yaml │ │ └── walker2d-medium-v2.yaml ├── dbc │ ├── kitchen │ │ ├── dit │ │ │ └── kitchen.yaml │ │ └── pearce_mlp │ │ │ └── kitchen.yaml │ ├── pusht │ │ ├── dit │ │ │ ├── pusht.yaml │ │ │ ├── pusht_image.yaml │ │ │ └── pusht_keypoint.yaml │ │ └── pearce_mlp │ │ │ ├── pusht.yaml │ │ │ ├── pusht_image.yaml │ │ │ └── pusht_keypoint.yaml │ ├── robomimic │ │ ├── dit │ │ │ ├── can.yaml │ │ │ ├── lift.yaml │ │ │ ├── square.yaml │ │ │ ├── tool_hang.yaml │ │ │ └── transport.yaml │ │ └── pearce_mlp │ │ │ ├── can.yaml │ │ │ ├── lift.yaml │ │ │ ├── square.yaml │ │ │ ├── tool_hang.yaml │ │ │ └── transport.yaml │ └── robomimic_multi_modal │ │ ├── dit │ │ ├── can.yaml │ │ ├── lift.yaml │ │ ├── square.yaml │ │ ├── tool_hang.yaml │ │ └── transport.yaml │ │ └── pearce_mlp │ │ ├── can.yaml │ │ ├── lift.yaml │ │ ├── square.yaml │ │ ├── tool_hang.yaml │ │ └── transport.yaml ├── dd │ ├── antmaze │ │ ├── antmaze.yaml │ │ └── task │ │ │ ├── antmaze-large-diverse-v2.yaml │ │ │ ├── antmaze-large-play-v2.yaml │ │ │ ├── antmaze-medium-diverse-v2.yaml │ │ │ └── antmaze-medium-play-v2.yaml │ ├── kitchen │ │ ├── kitchen.yaml │ │ └── task │ │ │ ├── kitchen-mixed-v0.yaml │ │ │ └── kitchen-partial-v0.yaml │ └── mujoco │ │ ├── mujoco.yaml │ │ └── task │ │ ├── halfcheetah-medium-expert-v2.yaml │ │ ├── halfcheetah-medium-replay-v2.yaml │ │ ├── halfcheetah-medium-v2.yaml │ │ ├── hopper-medium-expert-v2.yaml │ │ ├── hopper-medium-replay-v2.yaml │ │ ├── hopper-medium-v2.yaml │ │ ├── walker2d-medium-expert-v2.yaml │ │ ├── walker2d-medium-replay-v2.yaml │ │ └── walker2d-medium-v2.yaml ├── diffuser │ ├── antmaze │ │ ├── antmaze.yaml │ │ └── task │ │ │ ├── antmaze-large-diverse-v2.yaml │ │ │ ├── antmaze-large-play-v2.yaml │ │ │ ├── antmaze-medium-diverse-v2.yaml │ │ │ └── antmaze-medium-play-v2.yaml │ ├── kitchen │ │ ├── kitchen.yaml │ │ └── task │ │ │ ├── kitchen-mixed-v0.yaml │ │ │ └── kitchen-partial-v0.yaml │ └── mujoco │ │ ├── mujoco.yaml │ │ └── task │ │ ├── halfcheetah-medium-expert-v2.yaml │ │ ├── halfcheetah-medium-replay-v2.yaml │ │ ├── halfcheetah-medium-v2.yaml │ │ ├── hopper-medium-expert-v2.yaml │ │ ├── hopper-medium-replay-v2.yaml │ │ ├── hopper-medium-v2.yaml │ │ ├── walker2d-medium-expert-v2.yaml │ │ ├── walker2d-medium-replay-v2.yaml │ │ └── walker2d-medium-v2.yaml ├── diffuserlite │ ├── antmaze │ │ ├── antmaze.yaml │ │ └── task │ │ │ ├── antmaze-large-diverse-v2.yaml │ │ │ ├── antmaze-large-play-v2.yaml │ │ │ ├── antmaze-medium-diverse-v2.yaml │ │ │ └── antmaze-medium-play-v2.yaml │ ├── kitchen │ │ ├── kitchen.yaml │ │ └── task │ │ │ ├── kitchen-mixed-v0.yaml │ │ │ └── kitchen-partial-v0.yaml │ └── mujoco │ │ ├── mujoco.yaml │ │ └── task │ │ ├── halfcheetah-medium-expert-v2.yaml │ │ ├── halfcheetah-medium-replay-v2.yaml │ │ ├── halfcheetah-medium-v2.yaml │ │ ├── hopper-medium-expert-v2.yaml │ │ ├── hopper-medium-replay-v2.yaml │ │ ├── hopper-medium-v2.yaml │ │ ├── walker2d-medium-expert-v2.yaml │ │ ├── walker2d-medium-replay-v2.yaml │ │ └── walker2d-medium-v2.yaml ├── dp │ ├── kitchen │ │ ├── chi_transformer │ │ │ └── kitchen_abs.yaml │ │ ├── chi_unet │ │ │ └── kitchen_abs.yaml │ │ └── dit │ │ │ └── kitchen_abs.yaml │ ├── pusht │ │ ├── chi_transformer │ │ │ ├── pusht.yaml │ │ │ ├── pusht_image.yaml │ │ │ └── pusht_keypoint.yaml │ │ ├── chi_unet │ │ │ ├── pusht.yaml │ │ │ ├── pusht_image.yaml │ │ │ └── pusht_keypoint.yaml │ │ └── dit │ │ │ ├── pusht.yaml │ │ │ ├── pusht_image.yaml │ │ │ └── pusht_keypoint.yaml │ ├── robomimic │ │ ├── chi_transformer │ │ │ ├── can_abs.yaml │ │ │ ├── lift_abs.yaml │ │ │ ├── square_abs.yaml │ │ │ ├── tool_hang_abs.yaml │ │ │ └── transport_abs.yaml │ │ ├── chi_unet │ │ │ ├── can_abs.yaml │ │ │ ├── lift_abs.yaml │ │ │ ├── square_abs.yaml │ │ │ ├── tool_hang_abs.yaml │ │ │ └── transport_abs.yaml │ │ └── dit │ │ │ ├── can_abs.yaml │ │ │ ├── lift_abs.yaml │ │ │ ├── square_abs.yaml │ │ │ ├── tool_hang_abs.yaml │ │ │ └── transport_abs.yaml │ └── robomimic_multi_modal │ │ ├── chi_transformer │ │ ├── can_abs.yaml │ │ ├── lift_abs.yaml │ │ ├── square_abs.yaml │ │ ├── tool_hang_abs.yaml │ │ └── transport_abs.yaml │ │ ├── chi_unet │ │ ├── can_abs.yaml │ │ ├── lift_abs.yaml │ │ ├── square_abs.yaml │ │ ├── tool_hang_abs.yaml │ │ └── transport_abs.yaml │ │ └── dit │ │ ├── can_abs.yaml │ │ ├── lift_abs.yaml │ │ ├── square_abs.yaml │ │ ├── tool_hang_abs.yaml │ │ └── transport_abs.yaml ├── dql │ ├── antmaze │ │ ├── antmaze.yaml │ │ └── task │ │ │ ├── antmaze-large-diverse-v2.yaml │ │ │ ├── antmaze-large-play-v2.yaml │ │ │ ├── antmaze-medium-diverse-v2.yaml │ │ │ └── antmaze-medium-play-v2.yaml │ ├── kitchen │ │ ├── kitchen.yaml │ │ └── task │ │ │ ├── kitchen-mixed-v0.yaml │ │ │ └── kitchen-partial-v0.yaml │ └── mujoco │ │ ├── mujoco.yaml │ │ └── task │ │ ├── halfcheetah-medium-expert-v2.yaml │ │ ├── halfcheetah-medium-replay-v2.yaml │ │ ├── halfcheetah-medium-v2.yaml │ │ ├── hopper-medium-expert-v2.yaml │ │ ├── hopper-medium-replay-v2.yaml │ │ ├── hopper-medium-v2.yaml │ │ ├── walker2d-medium-expert-v2.yaml │ │ ├── walker2d-medium-replay-v2.yaml │ │ └── walker2d-medium-v2.yaml ├── edp │ ├── antmaze │ │ ├── antmaze.yaml │ │ └── task │ │ │ ├── antmaze-large-diverse-v2.yaml │ │ │ ├── antmaze-large-play-v2.yaml │ │ │ ├── antmaze-medium-diverse-v2.yaml │ │ │ └── antmaze-medium-play-v2.yaml │ ├── kitchen │ │ ├── kitchen.yaml │ │ └── task │ │ │ ├── kitchen-mixed-v0.yaml │ │ │ └── kitchen-partial-v0.yaml │ └── mujoco │ │ ├── mujoco.yaml │ │ └── task │ │ ├── halfcheetah-medium-expert-v2.yaml │ │ ├── halfcheetah-medium-replay-v2.yaml │ │ ├── halfcheetah-medium-v2.yaml │ │ ├── hopper-medium-expert-v2.yaml │ │ ├── hopper-medium-replay-v2.yaml │ │ ├── hopper-medium-v2.yaml │ │ ├── walker2d-medium-expert-v2.yaml │ │ ├── walker2d-medium-replay-v2.yaml │ │ └── walker2d-medium-v2.yaml ├── idql │ ├── antmaze │ │ ├── antmaze.yaml │ │ └── task │ │ │ ├── antmaze-large-diverse-v2.yaml │ │ │ ├── antmaze-large-play-v2.yaml │ │ │ ├── antmaze-medium-diverse-v2.yaml │ │ │ └── antmaze-medium-play-v2.yaml │ ├── kitchen │ │ ├── kitchen.yaml │ │ └── task │ │ │ ├── kitchen-mixed-v0.yaml │ │ │ └── kitchen-partial-v0.yaml │ └── mujoco │ │ ├── mujoco.yaml │ │ └── task │ │ ├── halfcheetah-medium-expert-v2.yaml │ │ ├── halfcheetah-medium-replay-v2.yaml │ │ ├── halfcheetah-medium-v2.yaml │ │ ├── hopper-medium-expert-v2.yaml │ │ ├── hopper-medium-replay-v2.yaml │ │ ├── hopper-medium-v2.yaml │ │ ├── walker2d-medium-expert-v2.yaml │ │ ├── walker2d-medium-replay-v2.yaml │ │ └── walker2d-medium-v2.yaml ├── qgpo │ └── mujoco │ │ ├── mujoco.yaml │ │ └── task │ │ ├── halfcheetah-medium-expert-v2.yaml │ │ ├── halfcheetah-medium-replay-v2.yaml │ │ ├── halfcheetah-medium-v2.yaml │ │ ├── hopper-medium-expert-v2.yaml │ │ ├── hopper-medium-replay-v2.yaml │ │ ├── hopper-medium-v2.yaml │ │ ├── walker2d-medium-expert-v2.yaml │ │ ├── walker2d-medium-replay-v2.yaml │ │ └── walker2d-medium-v2.yaml ├── sfbc │ └── mujoco │ │ ├── mujoco.yaml │ │ └── task │ │ ├── halfcheetah-medium-expert-v2.yaml │ │ ├── halfcheetah-medium-replay-v2.yaml │ │ ├── halfcheetah-medium-v2.yaml │ │ ├── hopper-medium-expert-v2.yaml │ │ ├── hopper-medium-replay-v2.yaml │ │ ├── hopper-medium-v2.yaml │ │ ├── walker2d-medium-expert-v2.yaml │ │ ├── walker2d-medium-replay-v2.yaml │ │ └── walker2d-medium-v2.yaml ├── synther │ ├── antmaze │ │ ├── antmaze.yaml │ │ └── task │ │ │ ├── antmaze-large-diverse-v2.yaml │ │ │ ├── antmaze-large-play-v2.yaml │ │ │ ├── antmaze-medium-diverse-v2.yaml │ │ │ └── antmaze-medium-play-v2.yaml │ ├── kitchen │ │ ├── kitchen.yaml │ │ └── task │ │ │ ├── kitchen-mixed-v0.yaml │ │ │ └── kitchen-partial-v0.yaml │ └── mujoco │ │ ├── mujoco.yaml │ │ └── task │ │ ├── halfcheetah-medium-expert-v2.yaml │ │ ├── halfcheetah-medium-replay-v2.yaml │ │ ├── halfcheetah-medium-v2.yaml │ │ ├── hopper-medium-expert-v2.yaml │ │ ├── hopper-medium-replay-v2.yaml │ │ ├── hopper-medium-v2.yaml │ │ ├── walker2d-medium-expert-v2.yaml │ │ ├── walker2d-medium-replay-v2.yaml │ │ └── walker2d-medium-v2.yaml └── veteran │ ├── antmaze │ ├── antmaze.yaml │ ├── reward_mode │ │ └── linear.yaml │ └── task │ │ ├── antmaze-large-diverse-v2.yaml │ │ ├── antmaze-large-play-v2.yaml │ │ ├── antmaze-medium-diverse-v2.yaml │ │ └── antmaze-medium-play-v2.yaml │ ├── kitchen │ ├── kitchen.yaml │ └── task │ │ ├── kitchen-mixed-v0.yaml │ │ └── kitchen-partial-v0.yaml │ ├── maze2d │ ├── maze2d.yaml │ ├── reward_mode │ │ └── linear.yaml │ └── task │ │ ├── maze2d-large-v1.yaml │ │ ├── maze2d-medium-v1.yaml │ │ └── maze2d-umaze-v1.yaml │ └── mujoco │ ├── mujoco.yaml │ └── task │ ├── halfcheetah-medium-expert-v2.yaml │ ├── halfcheetah-medium-replay-v2.yaml │ ├── halfcheetah-medium-v2.yaml │ ├── hopper-medium-expert-v2.yaml │ ├── hopper-medium-replay-v2.yaml │ ├── hopper-medium-v2.yaml │ ├── walker2d-medium-expert-v2.yaml │ ├── walker2d-medium-replay-v2.yaml │ └── walker2d-medium-v2.yaml ├── pipelines ├── __init__.py ├── adaptdiffuser_d4rl_antmaze.py ├── adaptdiffuser_d4rl_kitchen.py ├── adaptdiffuser_d4rl_mujoco.py ├── dbc_kitchen.py ├── dbc_pusht.py ├── dbc_pusht_image.py ├── dbc_robomimic.py ├── dbc_robomimic_image.py ├── dd_d4rl_antmaze.py ├── dd_d4rl_kitchen.py ├── dd_d4rl_mujoco.py ├── diffuser_d4rl_antmaze.py ├── diffuser_d4rl_kitchen.py ├── diffuser_d4rl_mujoco.py ├── diffuserlite_d4rl_antmaze.py ├── diffuserlite_d4rl_kitchen.py ├── diffuserlite_d4rl_mujoco.py ├── dp_kitchen.py ├── dp_pusht.py ├── dp_pusht_image.py ├── dp_robomimic.py ├── dp_robomimic_image.py ├── dql_d4rl_antmaze.py ├── dql_d4rl_kitchen.py ├── dql_d4rl_mujoco.py ├── edp_d4rl_antmaze.py ├── edp_d4rl_kitchen.py ├── edp_d4rl_mujoco.py ├── idql_d4rl_antmaze.py ├── idql_d4rl_kitchen.py ├── idql_d4rl_mujoco.py ├── qgpo_d4rl_mujoco.py ├── sfbc_d4rl_mujoco.py ├── synther_d4rl_antmaze.py ├── synther_d4rl_kitchen.py ├── synther_d4rl_mujoco.py ├── utils.py ├── veteran_d4rl_antmaze.py ├── veteran_d4rl_kitchen.py ├── veteran_d4rl_maze2d.py └── veteran_d4rl_mujoco.py ├── pyproject.toml ├── requirements.txt ├── setup.py ├── tests ├── test_all_classifier.py ├── test_all_nn_classifier.py ├── test_chi_transformer.py ├── test_chi_unet.py ├── test_d4rl_envs.py ├── test_diffusion_sde.py ├── test_dit.py ├── test_dql_mlp.py ├── test_idql_mlp.py ├── test_janner_unet.py ├── test_kitchen_datasets.py ├── test_kitchen_envs.py ├── test_mlps.py ├── test_pearce_mlp.py ├── test_pearce_transformer.py ├── test_pusht_datasets.py ├── test_pusht_envs.py ├── test_robomimic_env.py ├── test_sfbc_unet.py └── test_transform.py └── tutorials ├── 1_a_minimal_DBC_implementation.ipynb ├── 1_a_minimal_DBC_implementation.py ├── 2_classifier-free_guidance.py ├── 2_classifier_free_guidance.ipynb ├── 3_classifier_guidance.py ├── 4_customize_your_diffusion_network_backbone.py └── sp_consistency_policy.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CleanDiffuserTeam/CleanDiffuser/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENCE.txt: -------------------------------------------------------------------------------- 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