├── .gitignore ├── .pre-commit-config.yaml ├── Dockerfile ├── LICENSE ├── README.md ├── dexbotic ├── client.py ├── constants.py ├── data │ ├── __init__.py │ ├── collator.py │ ├── data_source │ │ ├── __init__.py │ │ ├── calvin_official.py │ │ ├── libero_official.py │ │ ├── maniskill2_official.py │ │ ├── register.py │ │ ├── robotwin2_official.py │ │ └── simpler_official.py │ ├── dataset │ │ ├── __init__.py │ │ ├── augmentations.py │ │ ├── depth_preprocess.py │ │ ├── dex_dataset.py │ │ ├── dex_mem_dataset.py │ │ ├── rgb_preprocess.py │ │ ├── tokenization.py │ │ └── transform │ │ │ ├── __init__.py │ │ │ ├── action.py │ │ │ ├── common.py │ │ │ ├── default_transform.py │ │ │ ├── language.py │ │ │ ├── multimodal.py │ │ │ └── output.py │ └── utils │ │ └── normalize.py ├── exp │ ├── base_exp.py │ ├── cogact_exp.py │ ├── discrete_vla_exp.py │ ├── mem_trainer.py │ ├── memvla_exp.py │ ├── muvla_exp.py │ ├── oft_exp.py │ ├── pi0_exp.py │ ├── trainer.py │ └── utils.py ├── model │ ├── cogact │ │ ├── action_model │ │ │ ├── __init__.py │ │ │ ├── action_models.py │ │ │ ├── builder.py │ │ │ ├── diffusion.py │ │ │ └── dit.py │ │ └── cogact_arch.py │ ├── dexbotic_arch.py │ ├── discrete_vla │ │ └── discrete_vla_arch.py │ ├── memvla │ │ ├── action_model │ │ │ ├── __init__.py │ │ │ ├── action_models.py │ │ │ ├── builder.py │ │ │ ├── diffusion.py │ │ │ └── dit.py │ │ └── memvla_arch.py │ ├── modules │ │ ├── mm_projector │ │ │ └── builder.py │ │ └── mm_vision │ │ │ ├── __init__.py │ │ │ ├── builder.py │ │ │ ├── clip │ │ │ └── clip_encoder.py │ │ │ └── siglip │ │ │ └── siglip_encoder.py │ ├── muvla │ │ └── muvla_arch.py │ ├── oft │ │ ├── action_model │ │ │ ├── __init__.py │ │ │ ├── builder.py │ │ │ └── model.py │ │ └── oft_arch.py │ └── pi0 │ │ └── pi0_arch.py └── tokenization │ ├── __init__.py │ ├── conversation.py │ ├── process.py │ └── tokenization.py ├── docs ├── Data.md ├── Dexbotic_Tech_Report.pdf ├── ModelZoo.md └── web_docs │ ├── 1. Overview.md │ ├── 2. Get Start.md │ ├── 3. Architecture.md │ ├── 4. Configure Experiment.md │ ├── 5. Use Custom Data.md │ ├── 6. ModelZoo.md │ ├── 7. Simulation Results.md │ ├── 8. Develop Your Own Model.md │ └── images │ ├── 1_1.png │ ├── 1_2.png │ └── 1_3.png ├── playground ├── benchmarks │ ├── calvin │ │ ├── calvin_cogact.py │ │ └── calvin_oft.py │ ├── libero │ │ ├── libero_cogact.py │ │ ├── libero_memvla.py │ │ └── libero_pi0.py │ ├── maniskill2 │ │ ├── maniskill2_cogact.py │ │ ├── maniskill2_oft.py │ │ └── maniskill2_pi0.py │ ├── robotwin2 │ │ └── robotwin2_cogact.py │ └── simpler │ │ ├── simpler_cogact.py │ │ ├── simpler_memvla.py │ │ └── simpler_oft.py ├── example_exp.py ├── example_memvla_exp.py └── example_muvla_exp.py ├── pyproject.toml ├── resources ├── intro.jpeg └── logo.png ├── script ├── convert_data │ ├── convert_lerobot_to_dexdata.py │ └── convert_rlds_to_dexdata.py └── deepspeed │ ├── zero2.json │ ├── zero3.json │ └── zero3_offload.json └── test_data └── libero_test.png /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Dexmal/dexbotic/HEAD/.gitignore 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