├── .gitignore ├── LICENSE ├── README.md ├── assets ├── h-rdt.jpg ├── personal_wechat_qr.jpg └── wechat_group_qr.jpg ├── configs ├── hrdt_finetune.yaml ├── hrdt_pretrain.yaml ├── zero1.json └── zero2.json ├── datasets ├── dataset.py ├── multi_hdf5_vla_dataset.py ├── pretrain │ ├── README.md │ ├── calc_stat.py │ ├── egodex_dataset.py │ ├── egodex_stat.json │ ├── encode_lang_batch.py │ ├── precompute_48d_actions.py │ ├── run_pretrain_pipeline.sh │ └── setup_pretrain.sh └── robotwin2 │ ├── README.md │ ├── calc_stat.py │ ├── encode_lang_batch.py │ ├── lang_embeddings │ ├── adjust_bottle.pt │ ├── beat_block_hammer.pt │ ├── blocks_ranking_rgb.pt │ ├── blocks_ranking_size.pt │ ├── click_alarmclock.pt │ ├── click_bell.pt │ ├── dump_bin_bigbin.pt │ ├── grab_roller.pt │ ├── handover_block.pt │ ├── handover_mic.pt │ ├── hanging_mug.pt │ ├── lift_pot.pt │ ├── move_can_pot.pt │ ├── move_pillbottle_pad.pt │ ├── move_playingcard_away.pt │ ├── move_stapler_pad.pt │ ├── open_laptop.pt │ ├── open_microwave.pt │ ├── pick_diverse_bottles.pt │ ├── pick_dual_bottles.pt │ ├── place_a2b_left.pt │ ├── place_a2b_right.pt │ ├── place_bread_basket.pt │ ├── place_bread_skillet.pt │ ├── place_burger_fries.pt │ ├── place_can_basket.pt │ ├── place_cans_plasticbox.pt │ ├── place_container_plate.pt │ ├── place_dual_shoes.pt │ ├── place_empty_cup.pt │ ├── place_fan.pt │ ├── place_mouse_pad.pt │ ├── place_object_basket.pt │ ├── place_object_scale.pt │ ├── place_object_stand.pt │ ├── place_phone_stand.pt │ ├── place_shoe.pt │ ├── press_stapler.pt │ ├── put_bottles_dustbin.pt │ ├── put_object_cabinet.pt │ ├── rotate_qrcode.pt │ ├── shake_bottle.pt │ ├── shake_bottle_horizontally.pt │ ├── stack_blocks_three.pt │ ├── stack_blocks_two.pt │ ├── stack_bowls_three.pt │ ├── stack_bowls_two.pt │ ├── stamp_seal.pt │ └── turn_switch.pt │ ├── robotwin_agilex_dataset.py │ ├── run_robotwin2_pipeline.sh │ ├── setup_robotwin2.sh │ ├── stats.json │ └── task_instructions.csv ├── finetune.sh ├── inference ├── real_example │ ├── inference_hrdt.py │ ├── model_inference.py │ ├── ros_operator.py │ ├── run_inference.sh │ ├── utils │ │ ├── hrdt.yaml │ │ ├── hub_mixin.py │ │ ├── lang_embeddings │ │ │ └── adjust_bottle.pt │ │ └── stats.json │ └── video_recorder.py └── robotwin2_example │ ├── H-RDT │ ├── __init__.py │ ├── deploy_policy.py │ ├── deploy_policy.yml │ ├── eval.sh │ ├── models │ │ ├── encoder │ │ │ ├── base_vision.py │ │ │ ├── dinosiglip_vit.py │ │ │ └── t5_encoder.py │ │ ├── hrdt │ │ │ ├── attention.py │ │ │ ├── blocks.py │ │ │ ├── model.py │ │ │ ├── norm.py │ │ │ ├── pos_emb.py │ │ │ └── time_noise.py │ │ └── hrdt_runner.py │ ├── requirements.txt │ └── utils │ │ ├── hrdt.yaml │ │ ├── hub_mixin.py │ │ ├── lang_embeddings │ │ ├── adjust_bottle.pt │ │ ├── beat_block_hammer.pt │ │ ├── blocks_ranking_rgb.pt │ │ ├── blocks_ranking_size.pt │ │ ├── click_alarmclock.pt │ │ ├── click_bell.pt │ │ ├── dump_bin_bigbin.pt │ │ ├── grab_roller.pt │ │ ├── handover_block.pt │ │ ├── handover_mic.pt │ │ ├── hanging_mug.pt │ │ ├── lift_pot.pt │ │ ├── move_can_pot.pt │ │ ├── move_pillbottle_pad.pt │ │ ├── move_playingcard_away.pt │ │ ├── move_stapler_pad.pt │ │ ├── open_laptop.pt │ │ ├── open_microwave.pt │ │ ├── pick_diverse_bottles.pt │ │ ├── pick_dual_bottles.pt │ │ ├── place_a2b_left.pt │ │ ├── place_a2b_right.pt │ │ ├── place_bread_basket.pt │ │ ├── place_bread_skillet.pt │ │ ├── place_burger_fries.pt │ │ ├── place_can_basket.pt │ │ ├── place_cans_plasticbox.pt │ │ ├── place_container_plate.pt │ │ ├── place_dual_shoes.pt │ │ ├── place_empty_cup.pt │ │ ├── place_fan.pt │ │ ├── place_mouse_pad.pt │ │ ├── place_object_basket.pt │ │ ├── place_object_scale.pt │ │ ├── place_object_stand.pt │ │ ├── place_phone_stand.pt │ │ ├── place_shoe.pt │ │ ├── press_stapler.pt │ │ ├── put_bottles_dustbin.pt │ │ ├── put_object_cabinet.pt │ │ ├── rotate_qrcode.pt │ │ ├── shake_bottle.pt │ │ ├── shake_bottle_horizontally.pt │ │ ├── stack_blocks_three.pt │ │ ├── stack_blocks_two.pt │ │ ├── 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